KR20130010718A - Navigation and method for guiding course based on driving road thereof - Google Patents

Navigation and method for guiding course based on driving road thereof Download PDF

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KR20130010718A
KR20130010718A KR1020110071526A KR20110071526A KR20130010718A KR 20130010718 A KR20130010718 A KR 20130010718A KR 1020110071526 A KR1020110071526 A KR 1020110071526A KR 20110071526 A KR20110071526 A KR 20110071526A KR 20130010718 A KR20130010718 A KR 20130010718A
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vehicle
route
lane
lanes
driving lane
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KR1020110071526A
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Korean (ko)
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김형주
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현대모비스 주식회사
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Publication of KR20130010718A publication Critical patent/KR20130010718A/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3605—Destination input or retrieval
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

PURPOSE: A navigation system and a method for guiding a route based on a driving line are provided to properly induce a line change by grasping a driving line of a vehicle, thereby preventing accidents. CONSTITUTION: A navigation system(20) comprises a front camera(210) and a route guiding unit. The front camera is installed in the front of a vehicle and records video with respect to the front of the vehicle at a view angle more than a preset critical angle. The route guide unit confirms lines on a road in which the vehicle drives through the video, grasps the driving line of the vehicle, and guides a route on a basis of the driving lines. [Reference numerals] (AA) Critical angle

Description

내비게이션 및 그의 주행차선에 기반한 경로 안내 방법{Navigation and Method for Guiding Course based on Driving Road thereof}Navigation and Method for Guiding Course based on Driving Road

본 발명은 경로 안내 방법에 관한 것으로서, 더 구체적으로는 차량의 주행차선을 고려하여 경로를 안내할 수 있는 내비게이션 및 그의 주행차선에 기반한 경로 안내 방법에 관한 것이다.The present invention relates to a route guidance method, and more particularly, to a navigation that can guide a route in consideration of a driving lane of a vehicle and a route guidance method based on the driving lane thereof.

일반적으로, 내비게이션은 GPS 정보로부터 차량의 현위치를 파악하여 기저장된 맵 데이터 내 현위치의 도로에 표시한다.In general, the navigation system detects the current position of the vehicle from the GPS information and displays it on the road of the current position in the pre-stored map data.

그런데, 종래의 내비게이션은 맵 도로에 현위치를 표시할 뿐, 차량의 주행차선이 몇 차선인지에 대한 정보는 제공하지 않았다.However, the conventional navigation only displays the current position on the map road, but does not provide information on how many lanes the driving lane of the vehicle is.

이를 개선하고자, 종래의 내비게이션 중에 3축 자이로센서에 의해 도로의 고저가 상하로 변화할 때 회전각을 검출하여 차량이 위치한 도로가 고가도로인지, 지하도로인지, 아니면 평면도로인지를 확인 및 표시하는 업그레이드된 내비게이션이 있다.In order to improve this, an upgrade to detect and display whether the road where the vehicle is located is an elevated road, an underground road, or a floor plan by detecting the rotation angle when the height of the road changes up and down by the three-axis gyro sensor during the conventional navigation. There is a navigation.

그런데, 업그레이드된 내비게이션도 도로에 대한 고도정보가 사전에 입력되어야 하므로, 종래에 비해 데이터량이 많고, 메모리 용량도 크며, 고도 등의 사전조사에 시간과 노력이 더 많이 소요되는 문제가 있다.However, the upgraded navigation also has a problem in that the altitude information of the road must be input in advance, so that there is a large amount of data, a large memory capacity, and more time and effort for preliminary investigation such as the altitude than in the prior art.

또한, 종래의 내비게이션은 도 1과 같이 고저 차가 발생하는 도로에서는 차량의 위치를 정확하게 알 수 없어, 제공정보에 오류가 발생하는 일이 빈번하였다.In addition, in the conventional navigation, as shown in FIG. 1, the position of the vehicle may not be accurately known on the road where the height difference occurs, and an error occurs frequently in the provided information.

본 발명은 전술한 바와 같은 기술적 배경에서 안출된 것으로서, 카메라에 의하여 촬영된 전방 영상에 의하여 주행차선을 파악하고, 주행차선에 기반하여 경로를 안내할 수 있는 내비게이션 및 그의 주행차선에 기반한 경로 안내 방법을 제공하는 것을 그 목적으로 한다.The present invention has been made in the technical background as described above, the navigation to identify the driving lane by the front image taken by the camera, the navigation based on the driving lane and the route guidance method based on the driving lane To provide that purpose.

본 발명의 일면에 따른 경로 안내 시스템은, 차량의 전방에 설치되며, 상기 차량의 전면에 대해 좌우로 기설정된 임계각 이상의 영상을 촬영하는 전방카메라; 및 상기 영상으로부터 주행중인 도로의 차선들을 확인하고 상기 차량의 주행차선을 파악하고, 상기 주행차선에 기반하여 경로를 안내하는 경로 안내부를 포함하는 것을 특징으로 한다.A route guidance system according to an aspect of the present invention, the front camera is installed in the front of the vehicle, the front camera for taking a predetermined angle or more images left and right with respect to the front of the vehicle; And a route guide unit that checks lanes of a driving road from the image, grasps a driving lane of the vehicle, and guides a route based on the driving lane.

본 발명의 다른 면에 따른 내비게이션의 경로 안내 방법은, 차량의 전면에 대해 좌우로 기설정된 임계각 이상에 대해 촬영한 영상을 확인하는 단계; 상기 영상으로부터 주행중인 도로의 차선들을 확인하여 현재 주행차선을 파악하는 단계; 및 상기 주행차선에 기반하여 경로를 안내하는 단계를 포함하는 것을 특징으로 한다.According to another aspect of the present invention, there is provided a path guidance method of navigation, including: checking an image photographed for a predetermined threshold angle or more with respect to a front surface of a vehicle; Identifying a current driving lane by identifying lanes of a driving road from the image; And guiding a route based on the driving lane.

본 발명에 따르면, 차량의 주행차선을 파악하여 적절히 차선변경 등을 유도할 수 있으므로, 차량이 분기점이나, 우회전 또는 좌회전시에 적절한 차선에 위치하지않음에 따라 갑작스레 차선을 변경하여 사고가 발생하거나, 안내경로를 놓치는 경우 발생을 예방할 수 있다. According to the present invention, it is possible to appropriately change lanes by grasping the driving lanes of the vehicle, and thus, accidents may occur by suddenly changing lanes as the vehicle is not located at the junction or right lane when turning right or left. If you miss a guideway, you can prevent it.

또한, 본 발명은 전방카메라에 의하여 차량의 주행차선을 파악할 수 있어, 종래의 고도이용 방식보다 적은 노력과 연산으로 정확도 높은 주행차선의 정보를 제공할 수 있고, 종래의 고도이용 방식과 달리 자이로센서를 별도로 추가할 필요가 없다.In addition, the present invention can determine the driving lane of the vehicle by the front camera, it is possible to provide information of the driving lane with high accuracy with less effort and calculation than the conventional altitude use method, unlike the conventional altitude use method gyro sensor There is no need to add it separately.

본 발명은 도로의 고저를 파악하지 않아도, 현재 주행차선의 정보에 의하여 차량이 지하 도로로 주행중인지, 평면 도로로 주행중인지 아니면, 고가 도로로 주행중인지를 파악할 수 있다. The present invention can grasp whether the vehicle is traveling on an underground road, a plane road or an elevated road, based on the information of the current driving lane, without knowing the elevation of the road.

도 1은 종래의 업그레이드된 내비게이션의 문제를 설명하기 위한 도면.
도 2는 본 발명의 실시예에 따른 경로 안내 시스템을 도시한 구성도.
도 3은 본 발명의 실시예에 따른 전방카메라에 의한 촬영 영상의 예.
도 4는 본 발명의 실시예에 따른 내비게이션의 경로 안내 방법을 도시한 흐름도.1 is a view for explaining the problem of the conventional upgraded navigation.
2 is a block diagram showing a route guidance system according to an embodiment of the present invention.
3 is an example of a captured image by a front camera according to an embodiment of the present invention.
4 is a flowchart illustrating a route guidance method of navigation according to an embodiment of the present invention.

본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시예들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 것이며, 단지 본 실시예들은 본 발명의 개시가 완전하도록 하며, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 청구항의 범주에 의해 정의될 뿐이다. 한편, 본 명세서에서 사용된 용어는 실시예들을 설명하기 위한 것이며 본 발명을 제한하고자 하는 것은 아니다. 본 명세서에서, 단수형은 문구에서 특별히 언급하지 않는 한 복수형도 포함한다. 명세서에서 사용되는 "포함한다(comprises)" 및/또는 "포함하는(comprising)"은 언급된 구성소자, 단계, 동작 및/또는 소자는 하나 이상의 다른 구성소자, 단계, 동작 및/또는 소자의 존재 또는 추가를 배제하지 않는다.Advantages and features of the present invention, and methods of achieving the same will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, the terms " comprises, " and / or "comprising" refer to the presence or absence of one or more other components, steps, operations, and / Or additions.

이제 본 발명의 바람직한 실시예에 대하여 첨부한 도면을 참조하여 상세히 설명하기로 한다. 도 2는 본 발명의 실시예에 따른 경로 안내 시스템을 도시한 구성도이며, 도 3은 본 발명의 실시예에 따른 전방카메라에 의한 촬영 영상의 예이다.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. 2 is a block diagram showing a route guidance system according to an embodiment of the present invention, Figure 3 is an example of a captured image by the front camera according to an embodiment of the present invention.

도 2에 도시된 바와 같이, 본 발명의 실시예에 따른 경로 안내 시스템(20)은 전방카메라(210) 및 내비게이션(220)을 포함한다.As shown in FIG. 2, the route guidance system 20 according to the embodiment of the present invention includes a front camera 210 and a navigation device 220.

전방카메라(210)는 차량 전면에 설치되어, 차량의 전면방향에 대해 좌우로 임계각(예컨대, 150도) 이상에 대한 영상을 촬영한다.The front camera 210 is installed at the front of the vehicle, and captures an image of a critical angle (for example, 150 degrees) or more with respect to the front direction of the vehicle.

내비게이션(220)은 차량 전면에 대한 촬영 영상을 이용하여 차량 주행도로의 좌측 중앙선과 기준선 사이에 존재하는 차선의 개수를 확인한다. 여기서, 기준선은 차량의 위치의 기준으로서, 예컨대 차량의 좌우를 절반으로 가르는 중앙선일 수 있다.The navigation unit 220 checks the number of lanes existing between the left center line of the vehicle driving road and the reference line by using the captured image of the front surface of the vehicle. Here, the reference line may be, for example, a center line that divides the left and right sides of the vehicle as a reference of the position of the vehicle.

그리고, 내비게이션(220)은 하기의 수학식 1과 같이 중앙선과 기준선 사이에 존재하는 차선의 개수에 1을 더하여 현재의 주행차선을 파악하고, 도로 맵 상에 표시하여 운전자가 현재의 주행차선을 인지할 수 있도록 한다.In addition, the navigation unit 220 recognizes the current driving lane by adding 1 to the number of lanes existing between the center line and the reference line as shown in Equation 1 below, and displaying the current driving lane on the road map. Do it.

Figure pat00001
Figure pat00001

도 3을 참고하여 설명하면, 내비게이션(220)은 중앙선과 기준선 사이의 차선의 개수가 2개임을 확인하고, 확인된 차선의 개수 2에 1을 더하여 현재의 주행차선이 3차선임을 파악할 수 있다.Referring to FIG. 3, the navigation 220 determines that the number of lanes between the center line and the reference line is two, and adds 1 to the number 2 of the identified lanes to determine that the current driving lane is three lanes.

따라서, 내비게이션(220)은 현재 주행차선을 고려하여 목적지에 이르는 경로를 안내할 수 있다.Therefore, the navigation 220 may guide the route to the destination in consideration of the current driving lane.

이와 같이, 본 발명은 차량의 주행차선을 파악하여 적절히 차선변경 등을 유도할 수 있으므로, 차량이 분기점이나, 우회전 또는 좌회전시에 적절한 차선에 위치하지않음에 따라 갑작스레 차선을 변경하여 사고가 발생하거나, 안내경로를 놓침에 따라 목적지와의 거리가 늘어나는 것을 방지할 수 있다. As described above, the present invention can grasp the driving lane of the vehicle and induce a lane change as appropriate. Therefore, an accident occurs by suddenly changing the lane as the vehicle is not located in an appropriate lane at the junction or the right turn or the left turn. In addition, the distance to the destination can be prevented from increasing as the guide path is missed.

또한, 본 발명은 전방카메라에 의하여 차량의 주행차선을 파악할 수 있어, 종래의 고도이용 방식보다 적은 노력과 연산으로 정확도 높은 주행차선의 정보를 제공할 수 있고, 종래의 고도이용 방식과 달리 자이로센서를 별도로 추가할 필요가 없다.In addition, the present invention can determine the driving lane of the vehicle by the front camera, it is possible to provide information of the driving lane with high accuracy with less effort and calculation than the conventional altitude use method, unlike the conventional altitude use method gyro sensor There is no need to add it separately.

이하, 도 4를 참조하여 본 발명의 실시예에 따라 내비게이션이 주행차선을 참조하여 경로를 안내하는 방법에 대하여 설명한다.Hereinafter, a method for guiding a route with reference to a driving lane by a navigation according to an embodiment of the present invention will be described with reference to FIG. 4.

도 4는 본 발명의 실시예에 따른 내비게이션의 경로 안내 방법을 도시한 흐름도이다. 도 4에서는 4차선 도로에서 2차선으로 주행중인 차량에 우회전을 안내하는 경우를 예로 들어 설명한다. 4 is a flowchart illustrating a path guidance method of navigation according to an embodiment of the present invention. In FIG. 4, a case in which a right turn is guided to a vehicle driving in two lanes on a four lane road will be described as an example.

도 4를 참조하면, 내비게이션(220)은 전방카메라(210)에 의해 촬영된 영상으로부터 현재 주행차선이 2차선임을 파악한다(S410).Referring to FIG. 4, the navigation unit 220 determines that the current driving lane is a second lane from the image photographed by the front camera 210 (S410).

내비게이션(220)은 곧 우회전해야 함을 확인하면, 기설정된 거리(예컨대, 300 내지 500m) 이내로 우회전해야할 도로에 근접하는지를 확인한다(S420).When the navigation 220 confirms that it should turn right soon, it determines whether the vehicle 220 is close to the road to be turned right within a predetermined distance (for example, 300 to 500 m) (S420).

내비게이션(220)은 우회전할 도로에 기설정된 거리 이내로 근접하면, "잠시 후 우회전이므로 4차선으로 이동하세요"와 같은 차선변경을 유도한다(S430).When the navigation 220 is approached within a predetermined distance to the road to turn right, it induces a lane change, such as "Please turn to four lanes after a while, turn right" (S430).

이와 같이, 본 발명은 도로의 고저를 파악하지 않아도, 현재 주행차선의 정보에 의하여 차량이 지하 도로로 주행중인지, 평면 도로로 주행중인지 아니면, 고가 도로로 주행중인지를 파악할 수 있다.As described above, the present invention can determine whether the vehicle is traveling on an underground road, on a flat road, or on an elevated road, based on the information of the current driving lane, without knowing the elevation of the road.

이상, 본 발명의 구성에 대하여 첨부 도면을 참조하여 상세히 설명하였으나, 이는 예시에 불과한 것으로서, 본 발명이 속하는 기술분야에 통상의 지식을 가진자라면 본 발명의 기술적 사상의 범위 내에서 다양한 변형과 변경이 가능함은 물론이다. 따라서 본 발명의 보호 범위는 전술한 실시예에 국한되어서는 아니되며 이하의 특허청구범위의 기재에 의하여 정해져야 할 것이다.While the present invention has been described in detail with reference to the accompanying drawings, it is to be understood that the invention is not limited to the above-described embodiments. Those skilled in the art will appreciate that various modifications, Of course, this is possible. Accordingly, the scope of protection of the present invention should not be limited to the above-described embodiments, but should be determined by the description of the following claims.

Claims (6)

차량의 전방에 설치되며, 상기 차량의 전면에 대해 좌우로 기설정된 임계각 이상의 영상을 촬영하는 전방카메라; 및
상기 영상으로부터 주행중인 도로의 차선들을 확인하고 상기 차량의 주행차선을 파악하고, 상기 주행차선에 기반하여 경로를 안내하는 경로 안내부
를 포함하는 경로 안내 시스템.A front camera installed at the front of the vehicle and photographing an image of a predetermined critical angle or more from the left and right with respect to the front of the vehicle; And
A route guide unit which checks lanes of a driving road from the image, identifies a driving lane of the vehicle, and guides a route based on the driving lane.
Route guidance system comprising a. 제1항에 있어서, 상기 경로 안내부는,
상기 영상으로부터 상기 차량의 좌측에 위치한 중앙선 및 기설정된 상기 차량의 위치기준인 기준선 사이에 존재하는 차선의 개수를 확인하고, 상기 차선의 개수에 1을 더하여 상기 주행차선을 파악하는 것인 경로 안내 시스템.The method of claim 1, wherein the route guide portion,
A route guidance system for identifying the number of lanes existing between a center line located on the left side of the vehicle and a reference line, which is a preset reference position of the vehicle, from the image, and identifying the driving lane by adding 1 to the number of lanes. . 제1항에 있어서, 상기 경로 안내부는,
우회전, 좌회전 및 분기점 중 적어도 하나의 안내시에 상기 차량이 상기 우회전, 상기 좌회전 및 상기 분기점 중 적어도 하나에 진입가능한 차선에 위치하지 않으면, 차선변경을 안내하는 것인 경로 안내 시스템.The method of claim 1, wherein the route guide portion,
And when the vehicle is not located in a lane accessible to at least one of the right turn, the left turn, and the branch point upon guiding at least one of the right turn, the left turn, and the branch point, to guide the lane change. 차량의 전면에 대해 좌우로 기설정된 임계각 이상에 대해 촬영한 영상을 확인하는 단계;
상기 영상으로부터 주행중인 도로의 차선들을 확인하여 현재 주행차선을 파악하는 단계; 및
상기 주행차선에 기반하여 경로를 안내하는 단계
를 포함하는 내비게이션의 경로 안내 방법.Checking an image photographed for at least a predetermined threshold angle from side to side with respect to a front surface of the vehicle;
Identifying a current driving lane by identifying lanes of a driving road from the image; And
Guiding a route based on the driving lane
Route guidance method of navigation comprising a. 제4항에 있어서, 상기 파악하는 단계는,
상기 영상으로부터 상기 차량의 좌측에 위치한 중앙선 및 기설정된 상기 차량의 위치기준인 기준선 사이에 존재하는 차선의 개수를 확인하는 단계; 및
상기 차선의 개수에 1을 더하여 상기 주행차선을 파악하는 단계
를 포함하는 것인 경로 안내 방법.The method of claim 4, wherein the determining comprises:
Checking the number of lanes existing between the center line located on the left side of the vehicle and the reference line, which is a preset reference position of the vehicle, from the image; And
Identifying the driving lane by adding 1 to the number of lanes
Route guidance method comprising a. 제4항에 있어서, 상기 안내하는 단계는,
우회전, 좌회전 및 분기점 중 적어도 하나에 대한 안내시에 상기 차량이 상기 우회전, 상기 좌회전 및 상기 분기점 중 적어도 하나에 진입가능한 차선에 위치하지 않으면, 차선변경을 안내하는 단계; 및
도로 맵 상에 상기 주행차선을 표시하는 단계
중 적어도 하나를 포함하는 것인 경로 안내 방법.
The method of claim 4, wherein the step of guiding,
Guiding a lane change if the vehicle is not located in a lane accessible to at least one of the right turn, the left turn and the branch point when guiding at least one of the right turn, the left turn and the branch point; And
Displaying the driving lane on a road map
Route guidance method comprising at least one of.
KR1020110071526A 2011-07-19 2011-07-19 Navigation and method for guiding course based on driving road thereof KR20130010718A (en)

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KR20160037486A (en) * 2014-09-29 2016-04-06 현대모비스 주식회사 Map matching apparatus and method for navigation system
KR20160064275A (en) * 2014-11-27 2016-06-08 연세대학교 산학협력단 Apparatus and method for recognizing position of vehicle
KR20180045661A (en) 2016-10-26 2018-05-04 주식회사 만도 Optimum driving lane leading method and system using a front image and navigation information
DE102017221951A1 (en) 2016-12-07 2018-06-07 Mando Corporation DEVICE AND METHOD FOR DRIVING A VEHICLE ALONG A NORMAL ROUTE
KR20200013069A (en) * 2017-07-27 2020-02-05 닛산 지도우샤 가부시키가이샤 Magnetic position correction method and magnetic position correction device of driving assistance vehicle
KR20200036403A (en) * 2018-09-28 2020-04-07 현대엠엔소프트 주식회사 Apparatus, method and system for guiding route

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160037486A (en) * 2014-09-29 2016-04-06 현대모비스 주식회사 Map matching apparatus and method for navigation system
KR20160064275A (en) * 2014-11-27 2016-06-08 연세대학교 산학협력단 Apparatus and method for recognizing position of vehicle
KR20180045661A (en) 2016-10-26 2018-05-04 주식회사 만도 Optimum driving lane leading method and system using a front image and navigation information
DE102017221951A1 (en) 2016-12-07 2018-06-07 Mando Corporation DEVICE AND METHOD FOR DRIVING A VEHICLE ALONG A NORMAL ROUTE
CN108170135A (en) * 2016-12-07 2018-06-15 株式会社万都 For along the device and method of canonical path driving vehicle
US10809087B2 (en) 2016-12-07 2020-10-20 Mando Corporation Apparatus and method for driving vehicle along normal route
CN108170135B (en) * 2016-12-07 2022-02-18 万都移动系统股份公司 Apparatus and method for driving a vehicle along a standard route
DE102017221951B4 (en) 2016-12-07 2024-01-25 Hl Klemove Corp. APPARATUS AND METHOD FOR DRIVING A VEHICLE ALONG A NORMAL ROUTE
KR20200013069A (en) * 2017-07-27 2020-02-05 닛산 지도우샤 가부시키가이샤 Magnetic position correction method and magnetic position correction device of driving assistance vehicle
US10953896B2 (en) 2017-07-27 2021-03-23 Nissan Motor Co., Ltd. Self-position correction method and self-position correction device for drive-assisted vehicle
KR20200036403A (en) * 2018-09-28 2020-04-07 현대엠엔소프트 주식회사 Apparatus, method and system for guiding route

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