KR20130077623A - Apparatus for driving guidance and method using the same - Google Patents

Abstract

PURPOSE: A driving guiding apparatus and a controlling method thereof are provided to effectively control driving and providing information thereabout. CONSTITUTION: A driving guiding apparatus comprises a step of receiving an external image through a camera module (S310); a step of obtaining first information from the external image (S320); a step of activating a visible communication-operating region when there is the visible communication-operating region in the received image (S340); a step of receiving second information through the visible ray communication module (S350); and a step of outputting diving guiding information based on the first and second information (S360). The first information shows whether there are other vehicles or traffic signals around the vehicle. The second information shows the state change of the other vehicles or traffic signals. [Reference numerals] (AA) Start; (BB) No; (CC) Yes; (DD) End; (S310) Receive an external image through a camera; (S320) Acquire first information; (S330) Visible ray communication area exists?; (S340) Visible ray communication module activation; (S350) Receive second information; (S360) Determine driving situation; (S370) Output driving guiding information

Description

Driving guidance device and control method {APPARATUS FOR DRIVING GUIDANCE AND METHOD USING THE SAME}

The present invention relates to a driving guide and a driving control method of a vehicle and a device thereof, and more particularly, to provide guide information related to driving of a vehicle based on information collected using visible light communication and image processing, and to automatically operate the vehicle. It relates to a method and apparatus for controlling.

Visible light communication uses visible light, which is the visible light of the human eye, and repeats turning on and off the lights such as LEDs at a very high speed so that the eye cannot feel it, and the light receiving unit detects the communication. That's the way it is. For example, it is possible to communicate by exchanging digital signals by setting the ON state to 1 and the OFF state to 0.

Visible light communication technology has emerged as a technology that can be used as a communication light source, such as light emitting diodes (LEDs) that emit light by semiconductors, as semiconductors are also being used as lightings after memory and processors. . In other words, the LED lighting communication convergence is a fusion technology capable of communicating at the same time while lighting through the LED, the lighting is also visible light wireless communication or visible light communication because visible light visible. Visible light communication technology is a communication technology that combines digital lighting and communication, there is a convenience that communication can be visually confirmed. In the visible light communication technology, as described above, LED lights emitting light by semiconductors are used. Since the LED lights can be digitally controlled, the technology development speed is higher than that of conventional analog lights, and various multimedia lights and It can provide a communication service.

Light used in visible light communication has a wavelength of 780nm to 380nm. Converting this wavelength to frequency corresponds to 385 THz to 789 THz (frequency band = speed of light (300,000,000 m) / wavelength (380 × 1000)), with the audible (audio) frequency band corresponding to 20 Hz to 20,000 Hz. , IrDA using infrared wavelengths, IEEE 802.11n at 2.4 Hz, UWB, 802.15.4 Zigbee, Bluetooth, IEEE802.15-3c at 60 GHz, and visible light communication is 800-900 nm among conventional communication methods. It uses the most similar wavelength to IrDA, but it can communicate simultaneously with lighting.

It is an advantage.

When using visible light communication, it uses light that is used as lighting, so it is harmless to human body, unlike the conventional communication method using various kinds of electromagnetic waves, it does not need to be licensed, does not interfere with ISM, and has a physical security function. There are a number of advantages, including the ability to provide high precision positioning and use for ultra-precision positioning. In particular, fluorescent lamps, which are typical analog lights used in the related art, have a problem that emissions of environmentally destructive materials are generated during production or disposal, whereas LED lighting is more environmentally friendly, and saves more than 90% of power, Because of its longevity, the US, Europe, and Japan are enacting legislation that recommends changing existing lighting fixtures to LED lighting.

Also in a vehicle, techniques for performing the above-mentioned visible light communication through a lighting lamp of a vehicle, for example, a headlight and a taillight, have been proposed.

However, when the vehicle performs only the vehicle-to-vehicle communication using the visible light communication device on the road, it is necessary to use only information received from the other vehicle directly related to the vehicle currently being driven, for example, the vehicle in front of the vehicle. No technique has been proposed. In addition, a driving guidance and / or vehicle control method using relative position information of a vehicle currently being driven and a surrounding vehicle has not been proposed.

Accordingly, the present specification proposes a driving guide and / or a vehicle control method and apparatus for improving accuracy of situation determination related to vehicle driving by further using image information collected through a camera or the like as well as visible light communication with surrounding vehicles. There is a purpose.

According to one disclosure in the present specification to achieve the above object, there is provided a method for controlling to output the driving guide information of the vehicle to the terminal. The method includes receiving an external image via a camera module; Acquiring first information from the received image; Activating a visible light communication module when there is an area where visible light communication is performed in the received image; Receiving second information via the visible light communication module; Outputting driving guide information determined based on the first information and the second information. The first information is information indicating the presence or absence of another vehicle or traffic light around the vehicle, and the second information is information indicating a state change of another vehicle or traffic light around the vehicle.

In the method, the first information may be information indicating a direction and a distance of the preceding vehicle, the second information may be rapid braking information of the preceding vehicle, and the driving guide information may be information indicating deceleration.

In the method, the first information may be information indicating a direction and a distance of the preceding vehicle, the second information may be lane change information of the preceding vehicle, and the driving guide information may be information indicating deceleration.

In the method, the first information may be information indicating a distance from the traffic light, the second information may be signal change related information received from the traffic light, and the driving guide information may be information indicating acceleration or deceleration of speed. .

The method may further include controlling driving of the vehicle based on the first information and the second information.

According to another disclosure herein, a method for controlling to output the position information of the vehicle to the terminal is provided. The method includes receiving an external image via a camera module; Confirming whether a visible light communication region exists in the received image; Activating a visible light communication module when the visible light communication capable region exists as a result of the checking; Receiving geographic coordinates of the visible light communication enabled area through the activated visible light communication module; And outputting location information of the vehicle based on the received image and geographical coordinates.

According to yet another disclosure herein, a terminal is provided. The terminal and the output unit; A camera module for capturing an image; A visible light communication module for communicating visible light with the outside; And a controller that is functionally connected to the output unit, the camera module, and the communication unit. The controller detects first information from an image captured by the camera module, controls to activate a visible light communication module when there is an area where visible light communication is performed in the image, and receives the second information. The module may be controlled, and the driving guide information determined based on the first information and the second information may be output through the output unit. The first information is information indicating the presence or absence of another vehicle or traffic light around the vehicle, and the second information is information indicating a state change of another vehicle or traffic light around the vehicle.

The driving guide and / or vehicle control method and apparatus according to the present disclosure have an effect of more accurately determining information about a surrounding situation of a driving vehicle, providing driving guide information corresponding thereto, and effectively controlling vehicle driving.

1 is a block diagram of a terminal device according to an embodiment of the present invention.
2 is a mounting diagram of a terminal device according to an embodiment of the present invention.
3 is a flowchart illustrating a driving guide information output and a driving control method according to an exemplary embodiment of the present invention.
4 (a) to (c) is a first embodiment of the driving guidance information output and driving control method according to the present specification.
5 (a) and (b) are a second embodiment of a driving guide information output and driving control method according to the present specification.
6 (a) and (b) illustrate a third embodiment of a method for outputting driving guidance information and driving control according to the present specification.
7 (a) and 7 (b) are embodiments of a method for measuring a position of a vehicle according to the present specification.

It is to be noted that the technical terms used herein are merely used to describe particular embodiments, and are not intended to limit the present invention. It is also to be understood that the technical terms used herein are to be interpreted in a sense generally understood by a person skilled in the art to which the present invention belongs, Should not be construed to mean, or be interpreted in an excessively reduced sense. In addition, when the technical terms used herein are incorrect technical terms that do not accurately express the spirit of the present invention, they should be replaced with technical terms that can be understood correctly by those skilled in the art. In addition, the general terms used in the present invention should be interpreted according to a predefined or prior context, and should not be construed as being excessively reduced.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In the present application, the term "comprising" or "comprising" or the like should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps.

In addition, the suffixes "module" and "unit" for the components used herein are given or mixed in consideration of ease of specification, and do not have distinct meanings or roles from each other.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or similar elements throughout the several views, and redundant description thereof will be omitted.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It is to be noted that the accompanying drawings are only for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the scope of the present invention with reference to the accompanying drawings. The spirit of the invention should be construed to extend to all changes, equivalents, and substitutes in addition to the accompanying drawings.

1 is a block diagram of a terminal device according to an embodiment of the present invention.

As illustrated in FIG. 1, the terminal device 100 may include a camera module 110, a communication unit 120, a control unit 130, a display unit 140, and a storage unit 150. The components of the terminal device 100 shown in FIG. 1 are not all essential components, and the terminal device may be implemented by more components than those shown in FIG. 1, or by fewer components. Can be implemented.

The camera module 110 may include at least one pair of cameras (eg, a stereo camera or a stereoscopic camera) spaced apart from each other at horizontal intervals on the same central axis of the same plane of the terminal device 100. Camera (stereoscopic camera) or a single camera. In this case, the fixed horizontal interval may be set in consideration of the distance between two eyes of a general person, and is set when configuring the terminal device 100. In addition, the camera module 110 may be any camera module capable of image capturing.

In addition, the camera module 110 may include a first image (eg, a left image captured by a left camera included in the pair of cameras) and a second image captured by the pair of cameras simultaneously. For example, the right image captured by the right camera included in the pair of cameras) is received.

In addition, the camera module 110 may be an image sensor such as a CCD device and a CMOS device.

In addition, when installed in the vehicle, the camera module 110 may be fixed to a predetermined position of the vehicle, and may be configured to photograph the front, the side, the rear of the driving direction, and the like to receive the photographed image.

The communication unit 120 may receive information related to the surrounding situation of the vehicle through visible light communication with the visible light communication capable apparatus around the vehicle, such as a surrounding vehicle, a street lamp, a traffic light, and the like. For example, it is possible to receive information such as sudden braking of a front vehicle, lane change, information related to a signal change of a traffic light, location information of a street lamp, and the like. Alternatively, the communication unit may receive product related information in an advertisement displayed on an electronic sign.

The controller 130 controls the overall operation of the terminal device 100 and particularly performs the method and function proposed in the present specification.

In addition, the controller 130 may select one or more search areas set based on the distance between the vehicle equipped with the camera module and the front object in the image received from the camera module 110. Here, the one or more search areas may consist of only one portion of the entire portion of the object that appears in the image according to the position of the current vehicle and the distance between the front object.

In addition, the controller 130 may determine a region in which visible light communication is possible in the image received from the camera module 110 and process only the corresponding portion. For example, only the taillight portion of the front vehicle of the image may be selected to track only that portion, and the position, speed, etc. of the front vehicle may be determined through the tracking.

In addition, the controller 130 may receive information related to a vehicle surrounding situation through the communication unit 120. The controller 130 may determine a situation around the vehicle based on the received information and the image information detected by the camera module 110. In this case, the controller 130 may directly control the driving of the vehicle based on the determination. That is, the vehicle may be controlled so as to drive appropriately for the current situation by controlling the vehicle's direction switching device and speed conversion device. For example, the brake device of the vehicle may be directly controlled to slow down the running speed, and the direction change device of the vehicle may be directly controlled to avoid dangerous objects in front of the vehicle.

The display unit 140 may display information for guiding driving of the vehicle under the control of the controller 130. That is, the controller 130 may display information for guiding attention driving, deceleration, etc. based on the situation around the vehicle determined by the controller 130.

In addition, the display unit 140 displays various contents such as various menu screens using a user interface and / or a graphic user interface included in the storage unit 150 under the control of the controller 130. Here, the content displayed on the display unit 140 includes a menu screen including various text or image data (including various information data) and data such as icons, list menus, combo boxes, and the like.

In addition, the display unit 140 includes a 3D display or a 2D display. In addition, the display unit 140 may include a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. The display device may include at least one of a flexible display and a light emitting diode (LED).

In addition, the display unit 140 displays the 3D image (or 2D image) under the control of the controller 130.

In addition, two or more display units 140 may exist according to an implementation form of the terminal device 100. For example, a plurality of display units may be spaced apart or integrally disposed on one surface (same surface) of the terminal device 100, or may be disposed on different surfaces.

On the other hand, when the display unit 140 and a sensor for detecting a touch operation (hereinafter, referred to as a “touch sensor”) form a mutual layer structure (hereinafter, referred to as a “touch screen”), the display unit 140 is output. In addition to the device can also be used as an input device. The touch sensor may have, for example, a form of a touch film, a touch sheet, a touch pad, or a touch panel.

In addition, the touch sensor may be configured to convert a change in pressure applied to a specific portion of the display unit 140 or capacitance generated at a specific portion of the display unit 140 into an electrical input signal. In addition, the touch sensor may be configured to detect not only the position and area of the touch but also the pressure at the time of touch. If there is a touch input to the touch sensor, the corresponding signal (s) is sent to a touch controller (not shown). The touch controller processes the signal (s) and then transmits corresponding data to the controller 130. As a result, the controller 130 may determine which area of the display unit 140 is touched.

In addition, the display unit 140 may include a proximity sensor. In addition, the proximity sensor may be disposed in the inner region of the terminal device 100 surrounded by the touch screen or near the touch screen.

As such, when the display unit 140 is used as an input device, a command or control signal may be input by an operation such as receiving a button operation by a user or touching / scrolling the displayed screen.

The storage unit 150 stores the methods proposed herein. In addition, the storage unit 150 stores data and programs required for the terminal device 100 to operate.

Here, the terminal device of FIG. 1 may not only be configured as stand alone, but also a mobile terminal, a telematics terminal, a smart phone, and a portable terminal. , Personal Digital Assistant (PDA), Portable Multimedia Player (PMP), Notebook Computer, Tablet PC (Tablet PC), Wibro Terminal, Internet Protocol Television (IPTV) Terminal, Television ), 3D televisions, video devices, telematics terminals, navigation terminals, AVN terminals, and the like.

2 is a mounting diagram of a terminal device according to an embodiment of the present invention.

The terminal device 100 may be mounted in a vehicle.

The camera module 110 may be mounted at a position capable of watching the front of the vehicle 200. In FIG. 2, the camera module 110 is mounted at a position similar to the eye height of the vehicle driver, but the mounting position may be changed by factors caused by the vehicle or the driver. In addition, the camera module 110 may be mounted at one location with all the components of the terminal device 100, or other components may be mounted separately. The camera module 110 disclosed herein may also be used to photograph side or rear, and at this time, the position of the camera module 110 may be changed.

3 is a flowchart illustrating a driving guide information output and a driving control method according to an exemplary embodiment of the present invention.

The terminal device receives an image from the outside through the camera module (S310). The terminal device detects first information from the received image (S320). The first information may include a location of a surrounding vehicle, a distance from a surrounding vehicle, and a location of a traffic light. It may be information indicating the presence of other vehicles or traffic lights around the vehicle, such as a distance from the traffic lights.

In this case, when there is an area where visible light communication is performed in the received image, the terminal device controls to activate the visible light communication module (S340).

The terminal device receives second information through the activated visible light communication module in operation S350. Here, the second information may be driving information of surrounding vehicles, for example, information related to sudden braking, lane change, or the like, or information indicating a state change of another vehicle or traffic light around the vehicle, such as a signal state of a traffic light or a time remaining until a signal change.

The terminal device may determine the surrounding situation of the vehicle based on the received first information and the second information (S360). For example, it may be determined whether the situation requires attention or deceleration.

As a result of the determination, when it is the situation to notify the driver of the caution, the terminal device can output the driving guide information (S370). The output may include visual and audio notifications and may be through a display screen and / or a speaker.

In this case, the terminal device may directly control the driving of the vehicle. That is, the vehicle may be controlled so as to drive appropriately for the current situation by controlling the vehicle's direction switching device and speed conversion device. For example, it is possible to directly control the brake device of the vehicle to slow down the running speed. Alternatively, the vehicle's turning device may be directly controlled to avoid dangerous objects in front of the vehicle.

The direct vehicle control of the terminal device may be performed when the vehicle automatic control mode of the vehicle on which the terminal device is mounted is 'on'.

4 (a) to (c) is a first embodiment of the driving guidance information output and driving control method according to the present specification.

4A is a diagram illustrating that the terminal device receives driving related information through an image captured by a camera module and visible light communication with a front vehicle.

 The terminal device 100 (hereinafter, referred to as a terminal device) according to the present specification receives an external image through a camera module of the terminal device. The terminal device 100 may detect a vehicle area from the image. As an example of an image processing process for detecting a vehicle area, a preprocessing technique and a classification technique may be used. The preprocessing technique includes edge analysis, reverse projection transformation, and the like, and is an image processing process for setting a vehicle candidate region. The classification technique is an image processing process of performing vehicle discrimination in a vehicle candidate area through SVM, Ada-boost, and the like. In this case, only the LED taillight region, which is a communicable region, may be extracted from the vehicle detection region, and symmetry discrimination, threshold setting, or specific color extraction may be used.

The terminal device 100 may obtain the reference coordinates of all vehicles in the image by converting the image photographed through the camera module into a world coordinate system through a camera model. In addition, the direction angle with the photographing vehicle may be obtained by using the reference coordinate of the target vehicle on the basis of the center of the lane where the vehicle equipped with the terminal apparatus is traveling.

The terminal device 100 may obtain first information through the image processing process. The first information may include distance or location information of the surrounding vehicles 400a and 400b.

In addition, the terminal device 100 may receive the second information through the visible light communication module. The second information may include driving conditions of the surrounding vehicles 400a and 400b, in particular sudden braking information. In this case, the terminal device 100 may activate the visible light communication module only when the visible light communication area is detected in the image received through the camera module.

The terminal device 100 determines the surrounding situation of the vehicle based on the received first information and the second information. The terminal device 100 may output driving guide information and / or control a vehicle driving based on the situation determination. That is, the vehicle may be controlled so as to drive appropriately for the current situation by controlling the vehicle's direction switching device and speed conversion device.

4B illustrates an example in which the terminal device determines driving conditions and outputs driving guide information.

The terminal device 100 detects vehicle characteristic data, an area in which visible light communication is possible, and the like in the image 410. In FIG. 4B, the rear light portion 415 is detected as the front front vehicle and the visible light communication region. In addition, when the front vehicle suddenly brakes, the terminal device 100 receives the sudden braking information through visible light communication with the front vehicle.

The terminal device 100 detects a surrounding situation through the above information. In other words. It is possible to determine whether or not the risk by combining the braking situation of the vehicle ahead and the distance to the vehicle ahead. As a result of the determination, if the risk is high, the terminal device outputs information 418 indicating instructing to drive or slow down. The output may include visual and audio notifications and may be through a display screen and / or a speaker.

4C is another example in which the terminal device determines a driving situation.

The terminal device 100 obtains vehicle characteristic data, visible light communication area, and the like from the image 420. In FIG. 4C, the rear light portion 425 is detected as the front side vehicle and the visible light communication region. In addition, when the front vehicle suddenly brakes, the terminal device 100 receives the sudden braking information through visible light communication with the front vehicle.

In this case, unlike (b), even if the braking information is received, since the front vehicle is not in the front, it may not be determined as a dangerous situation. Therefore, in this case, a separate instruction may not be output.

5 (a) and (b) are a second embodiment of a driving guide information output and driving control method according to the present specification.

FIG. 5A is a diagram illustrating that the terminal device 100 receives driving related information through an image captured by a camera module and visible light communication with a front vehicle.

As described with reference to FIG. 4A, the terminal device 100 may receive information through the camera module and the visible light communication module. The terminal device 100 determines the surrounding situation of the vehicle based on the received information. The terminal device 100 may output driving guide information and / or control a vehicle driving based on the situation determination.

5B illustrates an example in which the terminal device 100 determines driving conditions and outputs driving guide information.

The terminal device 100 obtains vehicle characteristic data, visible light communication area, and the like from the image 510. In addition, the terminal device 100 obtains location and distance information of surrounding vehicles in the image 510. In FIG. 5B, the direction indicator portion 515 is detected as the right front vehicle 500b and the visible light communication region. In addition, the terminal device 100 receives the lane change information through visible light communication with the front vehicle 500b when the front vehicle blinks the direction indicator to change lanes.

The terminal device 100 detects a surrounding situation through the above information. In other words. The risk of the vehicle may be determined by combining the lane change situation of the front vehicle 100 and the distance with the front vehicle. As a result of the determination, if the risk is high, the terminal device outputs information 518 indicating the attention driving or deceleration. The output may include visual and audio notifications and may be through a display screen and / or a speaker.

6 (a) and (b) illustrate a third embodiment of a method for outputting driving guidance information and driving control according to the present specification.

FIG. 6A is a diagram illustrating that the terminal device receives driving related information through an image captured by a camera module and visible light communication with a front vehicle.

As described with reference to FIG. 4A, the terminal device 100 may receive information through the camera module and the visible light communication module. The terminal device 100 determines the surrounding situation of the vehicle based on the received information. The terminal device 100 may output driving guide information and / or control a vehicle driving based on the situation determination.

6B illustrates an example in which the terminal device determines driving conditions and outputs driving guide information.

The terminal device 100 detects a traffic light and / or a visible light communication area in the image 610. In addition, the terminal device 100 obtains the position of the traffic light 615 and / or the distance information with the traffic light in the image 610. 6 (b) shows that the traffic light portion 615 is detected as a traffic light and visible light communication region. In addition, the terminal device 100 receives signal related information, that is, information on a current signal state, time remaining until a signal change, and the like through visible light communication with the traffic light 615.

The terminal device 100 detects a surrounding situation through the above information. In other words. It is possible to determine whether or not the risk by combining the signal change situation of the traffic light and the distance to the traffic light. As a result of the determination, if the possibility of danger is high, information 618 for instructing caution driving or deceleration is output. The output may include visual and audio notifications and may be through a display screen and / or a speaker.

7 (a) and 7 (b) are embodiments of a method for measuring a position of a vehicle according to the present specification.

FIG. 7A is a diagram illustrating that the terminal device acquires location information based on an image photographed through a camera module and information received from a target capable of visible light communication.

The terminal device 100 receives an external image through a camera module. The terminal device 100 checks whether there is an area in which the visible light communication can be performed in the image. Thereafter, when the communication capable region exists, the terminal device 100 activates the visible light communication module and receives the geographical coordinates of the visible light communication capable region 720 through the activated visible light communication module.

Thereafter, the terminal device 100 determines the location of the vehicle based on the image and the geographical coordinates. For example, the position of the current vehicle may be reversely calculated by receiving absolute position information of an object (eg, a street lamp) through visible light communication, and combining the object with the relative position of the object in the image.

The terminal device 100 outputs the determined location information of the vehicle. The output may include visual and audio notifications and may be through a display screen and / or a speaker.

7B illustrates an example in which the terminal device determines a location of a vehicle and outputs location information.

The terminal device 100 detects a visible light communication area or the like in the image 710. In FIG. 7B, the street lamp 720 is detected as a visible light communication region. In addition, the terminal device 100 receives location information of the street light through visible light communication with the street light 720.

Thereafter, the terminal device 100 may calculate the current location of the vehicle by combining the received location information with the relative location of the street light (in the image). In this case, the terminal device 100 may further analyze the building, the road, the scenery, and the like shown in the image to additionally identify the approximate location information and combine it with the received location information.

The terminal device 100 may output the location information determined as the calculation result in various ways.

The present invention can be embodied as computer readable codes on a light emitting diode (LED) visible light communication and / or a computer readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

The embodiments described above are the components and features of the present invention are combined in a predetermined form. Each component or feature shall be considered optional unless otherwise expressly stated. Each component or feature may be implemented in a form that is not combined with other components or features. It is also possible to construct embodiments of the present invention by combining some of the elements and / or features. The order of the operations described in the embodiments of the present invention may be changed. Some configurations or features of certain embodiments may be included in other embodiments, or may be replaced with corresponding configurations or features of other embodiments. It is clear that the claims that are not expressly cited in the claims may be combined to form an embodiment or be included in a new claim by an amendment after the application.

100: terminal device

Claims (7)

In the method for controlling to output the driving guide information of the vehicle to the terminal,
Receiving an external image through a camera module;
Acquiring first information from the received image;
Activating a visible light communication module when there is an area where visible light communication is performed in the received image;
Receiving second information via the visible light communication module; And
Outputting driving guide information determined based on the first information and the second information,
The first information is information indicating the presence of other vehicles or traffic lights around the vehicle,
And the second information is information indicating a change of state of another vehicle or a traffic light around the vehicle. The method of claim 1,
The first information is information indicating the direction and distance of the preceding vehicle,
The second information is rapid braking information of the preceding vehicle,
And the driving guide information is information for instructing deceleration. The method of claim 1,
The first information is information indicating the direction and distance of the preceding vehicle,
The second information is lane change information of the preceding vehicle,
And the driving guide information is information for instructing deceleration. The method of claim 1,
The first information is information indicating the distance to the traffic light,
The second information is signal change related information received from the traffic light,
And the driving guide information is information for instructing acceleration or deceleration of speed. The method of claim 1,
And controlling the running of the vehicle based on the first information and the second information. In the method for controlling to output the location information of the vehicle to the terminal,
Receiving an external image through a camera module;
Confirming whether a visible light communication region exists in the received image;
Activating a visible light communication module when a visible light communication capable region exists as a result of the checking;
Receiving geographic coordinates of the visible light communication enabled area through the activated visible light communication module; And
And outputting location information of the vehicle based on the received image and geographical coordinates. In the terminal device,
An output unit;
A camera module for capturing an image;
Visible light communication module for communicating visible light with the outside; And
It includes a control unit that is functionally connected to the output unit, the camera module and the communication unit,
The control unit,
Detecting first information from an image captured by the camera module, and if there is an area where visible light communication is performed in the image, controlling to activate the visible light communication module,
Control the visible light communication module to receive second information,
Controlling to output the driving guide information determined based on the first information and the second information through the output unit,
The first information is information indicating the presence of other vehicles or traffic lights around the vehicle,
And the second information is information indicating a change of state of another vehicle or a traffic light around the vehicle.

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