KR20140074158A - Lane change guiding method and apparatus performing the same - Google Patents

Abstract

According to an embodiment of the present invention, a method of guiding a lane change in a lane change guiding device includes: a step of receiving a first and a second image at a predefined time interval from a plurality of cameras; a step of detecting a certain license plate from the first image and detecting the same license plate as the detected license plate from the second image; a step of calculating a distance between a concerned vehicle and a following vehicle using the license plates detected from the first and the second image; a step of calculating a relative speed of the following vehicle using the predefined time interval and the distance between the concerned vehicle and the following vehicle; and a step of notifying a driver of the concerned vehicle whether a lane change is available using the distance between the concerned vehicle and the following vehicle and the relative speed of the following vehicle.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lane change guidance method,

Embodiments of the present invention relate to a lane change guidance method and apparatus for implementing the same.

Generally, the lane change guidance device determines the relative speed of the rear vehicle using the distance between the vehicle and the rear vehicle, and then determines whether the vehicle is in danger, and guides the lane change. The driving support device can measure the distance between the vehicle and the rear vehicle using an infrared sensor, an ultrasonic sensor, a GPS (Global Positioning System), a point & motion sensor, a laser scanner and the like.

However, the infrared sensor and the ultrasonic sensor have a problem in that if there are two or more objects, only the closest object is measured. Also, it is very difficult to measure objects in all areas as a point recognition method because the point & motion sensor is a point recognition method because the GPS can measure the object even if the information about the surrounding environments is necessarily present. In addition, laser sensors are very expensive in terms of performance and are very large in size.

In order to solve such a problem, conventionally, an object was measured using an image of a running state of a vehicle. A method of measuring the distance of an object through an image includes a non-interest point matching method 101 and an interest point matching method 102 as shown in FIG.

The uninvolved region matching method 101 searches all regions of the target image 131 and searches for the same region as the reference image 111 when trying to detect the license plate 121 in the reference image 111 in the target image 131. [ The license plate 121 is detected.

The region of interest matching method 102 detects the same plate as the reference image using the angular variation of the target image when trying to detect the plate in the reference image in the target image. However, since the angle of the license plate in the target image is not changed, it is not suitable for the system for lane change.

The present invention relates to a lane change guidance method in which a plurality of cameras dedicated to night buses are installed in a vehicle, and lane change guidance can be accurately guided at night even by using images photographed by each of a plurality of cameras for night use, And to provide the above-mentioned objects.

Further, the present invention can detect a license plate in an image taken by each of a plurality of cameras in a vehicle and use it to calculate the distance between the vehicle and the rear vehicle, thereby accurately measuring the distance between the vehicles, And it is an object of the present invention to provide a lane change guidance method capable of calculating a relative speed of a vehicle and an apparatus for executing the lane change guidance method.

Further, the present invention uses a distance between the vehicle and the rear vehicle to determine a section corresponding to the current position of the vehicle, and changes the predetermined section according to the relative speed of the rear vehicle, thereby guiding the lane change And a device for executing the method.

The problems to be solved by the present invention are not limited to the above-mentioned problem (s), and another problem (s) not mentioned can be clearly understood by those skilled in the art from the following description.

Among the embodiments, the lane change guidance method executed in the lane change guidance apparatus may include receiving a first image and a second image from a plurality of cameras at a predetermined time interval, detecting a specific license plate in the first image, Calculating a distance between the vehicle and the rear vehicle using the number plates detected in each of the first image and the second image, calculating a distance between the vehicle and the rear vehicle, Calculating a relative speed of the rear vehicle by using a distance between the vehicle and the rear vehicle, calculating a relative speed of the rear vehicle based on a distance between the vehicle and the rear vehicle, And notifying whether or not the change is possible.

Among the embodiments, when the lane change guidance apparatus receives the first image and the second image from the plurality of cameras at a predetermined time interval, it detects a specific number plate in the first image and sets the same number plate as the detected specific number plate Calculating a distance between the vehicle and the rear vehicle using the number plates detected in each of the first image and the second image, calculating a distance between the vehicle and the rear vehicle And a lane change notification unit for notifying a driver of the vehicle of the possibility of lane change by using a distance between the vehicle and the rear vehicle and a relative speed of the rear vehicle do.

The details of other embodiments are included in the detailed description and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and / or features of the present invention, and how to accomplish them, will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but is capable of many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

According to the present invention, it is possible to install a plurality of cameras for night-time use in a vehicle, and guide the lane change precisely at night even by using images photographed by each of a plurality of night-only cameras.

According to the present invention, the distance between the vehicles can be measured very precisely by detecting the license plate in the image taken by each of the plurality of cameras in the vehicle and calculating the distance between the vehicle and the rear vehicle, There is an effect that the relative speed of the rear vehicle can be calculated.

According to the present invention, a section corresponding to the current position of the vehicle is determined using the distance between the vehicle and the rear vehicle, and a predetermined section is changed according to the relative speed of the rear vehicle, There is an effect that can be done.

Figure 1 is a reference diagram for explaining a general method of measuring an object in an image.
2 is a block diagram for explaining a lane change guidance apparatus according to an embodiment of the present invention.
3 is a flowchart for explaining an embodiment of a lane change guidance method according to the present invention.
4 to 7 are reference views for explaining the execution process of FIG.
8 is a flowchart for explaining another embodiment of the lane change guidance method according to the present invention.
9 and 10 are reference views for explaining the execution process of FIG.
11 is a flowchart for explaining another embodiment of the lane change guidance method according to the present invention.
12 to 15 are reference views for explaining the execution process of FIG.

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

2 is a block diagram for explaining a lane change guidance apparatus according to an embodiment of the present invention.

2, the lane change guidance device 200 includes an image receiving unit 210, a detection unit 220, a calculation unit 230, a lane change control unit 240, and a lane change guidance unit 250. [

The image receiving unit 210 receives the first image and the second image from each of the plurality of cameras. The image receiving unit 210 provides the lane change control unit 240 with the first image and the second image received from the plurality of cameras.

In one embodiment, the image receiving unit 210 may receive the first image and the second image at predetermined time intervals from each of the plurality of cameras. For example, the image receiving unit 210 may receive the first image and the second image at intervals of 30 seconds.

The detection unit 220 may further include a line detection unit 221 and a license plate detection unit 222.

The line detection unit 221 detects a line in any one of the first image and the second image captured by each of the plurality of cameras under the control of the lane change control unit 240. [ The line detection unit 221 provides the detected line to the lane change control unit 240. [ In one embodiment, the line detecting section 221 may detect both lines of the road on which the vehicle is traveling in the first image and provide it to the lane change control section 240.

The license plate detecting unit 222 may detect the same license plate in the first image and the second image photographed by each of the plurality of cameras under the control of the lane change control unit 240 and provide the same license plate to the calculation unit 230.

In one embodiment, the license plate detection unit 222 detects license plate numbers of the plurality of license plates in the first image that are close to the lane to be shifted, and identifies license plates that are the same as the license plate detected in the first image among the plurality of license plates in the second image The license plate can be detected. Here, the license plate detector 222 can determine the detection area corresponding to the height of the license plate detected in the first image in the second image, and detect the same license plate as the license plate detected in the first image in the detection area have.

The calculating unit 230 may further include a distance calculating unit 231 and a relative speed calculating unit 232.

The distance calculating unit 231 can calculate the distance between the vehicle and the rear vehicle using the license plates detected by the license plate detecting unit 222 under the control of the vehicle change control unit 240. [ The distance calculating section 231 can provide the distance between the calculated vehicle and the rear vehicle to the relative speed calculating section 232 and the lane change controlling section 240. [

In one embodiment, the distance calculating section 231 can calculate the distance between the vehicle and the rear vehicle using the first distance and the second distance. Here, the first distance is a distance between the first and second image frame distances measured based on the center point of the plate detected in the first image, and the second distance is a distance between the second image measured with respect to the center point of the second image- It means a close distance of both ends of the frame.

The relative speed calculating unit 232 calculates the relative speed of the rear vehicle using the distance between the vehicle and the rear vehicle calculated by the distance calculating unit 231 and the time interval during which the first image and the second image are received.

When the state of the direction indicating module is turned on by a user operation, the lane change control unit 240 determines whether the intention of the user is a lane change by using any one of the lines detected by the line detecting unit 221 Can be determined.

In one embodiment, when the direction instruction module indicates the left direction by a user operation, the lane change control unit 240 determines whether the intention of the user using the left line of both lines detected by the line detection unit 221 is It can be determined whether or not the lane change is made. Here, when the left line is a discontinuous line, the lane change control unit 240 can determine that the intention of the user is a lane change to the left, and can determine that the intention of the user is left when the left line is a continuous line.

In another embodiment, when the direction instruction module indicates the right direction by a user operation, the lane change control unit 240 determines whether or not the intention of the user using the right line of the both lines detected by the line detection unit 221 It is possible to determine whether or not the lane change is a lane change. Here, when the right line is a discontinuous line, the lane change control unit 240 can determine that the intention of the user is a lane change to the right, and if the right line is a continuous line, the lane change control unit 240 can determine that the intention of the user is a right turn.

The lane change control unit 240 may use any one of the lines detected by the line detection unit 221 to detect the license plate in each of the first image and the second image when it is determined that the intention of the user is a lane change And controls the license plate detecting section 222.

The lane change control unit 240 calculates the distance between the vehicle and the rear vehicle using the number plates detected when the number plate is detected in each of the first image and the second image by the number plate detecting unit 222 And controls the relative speed calculating section 232 to calculate the relative speed of the rear vehicle using the time interval at which the first image and the second image are received and the distance between the vehicle and the rear vehicle.

The lane change control unit 240 can determine whether or not the lane change is safe depending on the distance between the vehicle and the rear vehicle calculated by the distance calculating unit 231. [

In one embodiment, the lane change control unit 240 may determine the current position as at least one of a danger zone, a care zone, and a safety zone according to the distance between the vehicle and the rear vehicle. For example, the lane change control unit 240 may determine the current position as a danger zone if the distance between the vehicle and the rear vehicle is 0 m or more and 10 m or less. For example, if the distance between the vehicle and the rear vehicle is 10 m or more and 20 m or less, the lane-changing control unit 240 may determine the current position as the careful section. As another example, the lane-changing control unit 240 may determine the current position as the safety zone when the distance between the vehicle and the rear vehicle is 20 m or more.

The lane change control unit 240 can determine the current position of the vehicle using the relative speed of the rear vehicle calculated by the relative speed calculating unit 232 and the distance between the vehicle and the rear vehicle calculated by the distance calculating unit 231 have.

In one embodiment, the lane change control unit 240 determines the current position of the vehicle as at least one of a danger zone, a care zone and a safety zone using the distance between the vehicle and the rear vehicle, The section determined according to the speed of the vehicle can be changed.

For example, the lane change control unit 240 determines the current position of the vehicle as the safety zone using the distance between the vehicle and the rear vehicle. However, if the relative speed of the rear vehicle is greater than or equal to the specific speed, You can change to a careful interval.

For example, the lane-changing control unit 240 determines the current position of the vehicle as a careful interval by using the distance between the vehicle and the rear vehicle. However, if the relative speed of the rear vehicle is greater than or equal to the specific speed, To the danger zone.

The lane-changing control unit 240 determines whether the lane change is possible according to the section corresponding to the current position of the vehicle, and controls the lane-changing guidance unit 250 to provide the lane-changing guidance. For example, when it is determined that the current position of the vehicle is one of the safety period and the care period, the lane-changing control unit 240 may determine that the lane change is possible and control the lane- have. For example, if the current position of the vehicle is determined to be a danger zone, the lane-changing control unit 240 may determine that the lane change is impossible and control the lane-changing guidance unit 250 to inform the driver of the risk of lane change.

The lane change guidance unit 250 guides the lane change under the control of the lane change control unit 240.

Hereinafter, the lane change guidance method will be described with reference to Figs. 3 to 15. Fig. The lane change guidance method to be described later is performed in the lane change guidance apparatus 200 described above, so that corresponding contents will not be duplicated. However, those skilled in the art will appreciate from the foregoing description that the lane change guidance method .

3 is a flowchart for explaining an embodiment of a lane change guidance method according to the present invention. 4 to 7 are reference views for explaining the execution process of FIG. The embodiment of FIG. 3 relates to an embodiment in which a user's intention can be determined when a direction instruction module is turned on by a user operation.

Referring to FIG. 3, the lane change guidance device 200 determines whether the direction instruction module is turned on by a user operation (step S310).

When the lane change guidance device 200 determines that the direction indicating module is turned on by a user operation (step S320), the lane change guidance device 200 detects both lines of the road on which the vehicle is traveling in the image (step S330). In the present invention, a night vision camera is used instead of a conventional camera to photograph a road on which a vehicle is traveling. When the image 400 of FIG. 4 taken by a general camera is compared with the image 500 of FIG. 5 taken by a night vision camera, the image 500 of FIG. 5 taken by a night vision camera is photographed at night 4 image (400).

For example, the lane change guidance device 200 can detect both lines 610a and 610b of the road on which the vehicle is traveling in the image 600 of Fig. The lane change guide apparatus 200 can easily detect both lines because the lane is distinguished from the white line in the image 600 of FIG. 6, and therefore the search range can be greatly reduced, thereby reducing the time required for detecting the lane There is a great advantage that it can be minimized.

The lane change guidance device 200 detects a line in the direction indicated by the direction indicating module among the direction lines (step S340). If the lane change guidance apparatus 200 determines that the line in the direction indicated by the direction designation module among the direction lines is a discontinuous line (step S350), the lane change guidance device 200 determines that the intention of the user is a lane change in the direction indicated by the direction designation module (Step S360).

For example, when the direction designation module indicates the leftward direction, the lane change guidance device 200 displays the leftward direction line 711 indicated by the direction designation module among the both lines in the first image 710 of Fig. 7 ) Is a discontinuous line, it can be determined that the intention of the user is a lane change in the left direction.

For example, the lane change guidance device 200 may determine that the right direction line (indicated by the direction indicating module) of both lines in the second image 720 of FIG. 7 721) is determined to be a discontinuous line, it can be determined that the intention of the user is a lane change in the right direction.

 As another example, the lane change guidance device 200 may be configured such that the directional direction module has a left direction line 731 indicated by the direction indicating module among the both lines in the third image 730 of FIG. 7 It is judged that the line is not a discontinuous line and it can be judged that the line is a left turn.

As another example, the lane change guidance device 200 may be configured such that the direction indicator module moves the left direction to the right direction line 741 indicated by the direction indication module among the both lines in the fourth image 740 of FIG. 7 It is judged that the line is not a discontinuous line and it can be judged as a right turn.

8 is a flowchart for explaining another embodiment of the lane change guidance method according to the present invention. 9 and 10 are reference views for explaining the execution process of FIG. One embodiment of Fig. 8 relates to an embodiment that can detect a specific number plate in a first image and detect the same number plate as a detected specific image in a second image.

8, the lane change guidance apparatus 200 receives the first image and the second image taken by each of the plurality of cameras (step < RTI ID = 0.0 > S810).

The lane change guidance apparatus 200 detects a license plate closest to the lane to be shifted among a plurality of license plates in the first image (step S820). For example, the lane change guidance apparatus 200 detects (920) license plates 921, 922, and 923 of a plurality of vehicles 911, 912, and 913 in the first image 910 shown in FIG. 9, , And detects the number plate 923 closest to the movement target lane among the number plates 921, 922, and 923 (930).

The lane change guidance apparatus 200 determines a detection area in the second image using an area corresponding to the height of the specific plate detected in the first image (step S830). The lane change guidance apparatus 200 detects the same number plate as the specific number plate detected in the first image in the detection area of the second image (step S840).

For example, the lane change guidance apparatus 200 may use the area 1013 corresponding to the height 1012 of the license plate 1011 detected in the first image 1010 shown in FIG. 10, And the same plate 1022 as the plate 1011 detected in the first image 1010 can be detected in the detection area 1021 of the second image 1020. [

11 is a flowchart for explaining another embodiment of the lane change guidance method according to the present invention. 12 to 15 are reference views for explaining the execution process of FIG.

Referring to FIG. 11, the lane change guidance apparatus 200 calculates the distance between the vehicle and the rear vehicle using the plates detected in each of the first image photographed by the first camera and the second image photographed by the second camera, (Step S1110).

The process of calculating the distance between the vehicle and the rear vehicle is expressed by the following equations (1) to (3). Hereinafter, the equations (1) to (3) will be described with reference to FIGS. 12 and 13. FIG.

Equation (a) in Equation (1) is obtained by using the license plate 1212 in the first image 1210 to determine the distance between the rear vehicle 1330 and the first camera 1310 within the angle of view of the first camera 1310, (B) in Equation (1) is calculated using the number plate 1222 in the second image 1220 to calculate the angle between the backward direction within the angle of view of the second camera 1320 Is an equation for calculating the angle between the vehicle 1330 and the second camera 1320. [

(a) (b)

In Equation (a),? ₁ represents the horizontal length of the first image 1210,? ₁ 1340 represents a view angle representing the view of a scene that can be captured by the first camera 1310, of the first image 1210, a first image 1210, the frame ends measured relative to the center point of the detected license plate 1212 in the distance shows a close range _{(1213), ψ 1 (1360} ) is in the θ ₁ (1340) And the angle between the rear vehicle 1330 and the first camera 1310.

는 제2 이미지(1220) 검출한 번호판(1222)의 중심점을 기준으로 측정한 제2 이미지(1220) 프레임 양끝 거리 중 가까운 거리(1214)를 나타내고, ψ₂(1370)는 θ₂(1350)내에 있는 후방 차량(1330)과 제2 카메라(1320) 사이의 각도를 나타낸다.
In the equation (b),? ₂ represents the horizontal length of the second image 1220,? ₂ 1350 represents the view angle representing the view of the scene that can be captured by the second camera 1320,

In the second image 1220 indicates a second image 1220, the frame ends Street 1214 near the measurement relative to the center point of the detected license plate _{(1222), ψ 2 (1370} ) is θ ₂ (1350) The angle between the rear vehicle 1330 and the second camera 1320 is shown.

In Equation (a), l (1340) denotes a distance between the vehicle and the rear vehicle (1330), θ ₁ represents an angle of view representing the field of view of the capture possible scene by the first camera (1310), ψ ₁ is the first is a αθ ₁ / ω ₁ calculated by the following equation (a) in equation 1 as the angle between the rear vehicle 1330, and the first camera 1310, in the field of view of the camera 1310.

₁/ω₁이다.
In equation (b), l (1340) denotes a distance between the vehicle and the rear vehicle (1330), θ ₂ denotes an angle of view representing the field of view of the possible scene captured by the second camera (1320), ψ ₂ are (B) of the equation (1) as the angle between the rear vehicle 1330 and the second camera 1320 within the angle of view of the second camera 1320,

₁ /? ₁ .

In Equation 3, d represents the distance between the first camera 1310 and the second camera 1320, and l 1340 represents the distance between the vehicle and the rear vehicle 1330.

The lane-changing guidance apparatus 200 determines the current position of the vehicle to be one of a danger zone, a care zone, and a safety zone using the distance between the vehicle and the rear vehicle (Step S1120).

For example, the lane change guidance apparatus 200 can determine the current position as a danger zone when the distance between the vehicle and the rear vehicle is 0 m or more and 10 m or less as in the first image 1401 in Fig. For example, if the distance between the vehicle and the rear vehicle is 10 m or more and 20 m or less as shown in the second image 1402 in Fig. 14, the lane change guidance apparatus 200 may determine the current position as a careful section. As another example, the lane change guidance apparatus 200 can determine the current position as the safety section when the distance between the vehicle and the rear vehicle is 20 m or more as shown in the third image 1403 in Fig.

The lane change guidance apparatus 200 calculates the relative speed of the rear vehicle using the time interval at which the first image and the second image are received and the distance between the vehicle and the rear vehicle (step S1130). The process of calculating the relative speed of the rear vehicle is shown in Equation (4).

In Equation (4),? D _object represents the distance between the vehicle and the rear vehicle,? T _frame represents a predetermined time interval during which the first image and the second image are received, and V _rel represents the relative speed of the rear vehicle .

When the lane departure guidance apparatus 200 determines that the relative speed of the rear vehicle is greater than or equal to the specific speed (step S1140), the lane change guidance apparatus 200 changes the section corresponding to the current position of the predetermined vehicle (step S1150).

For example, when the speed limit of the relative speed of the rear vehicle is 30 km / h as in the first image 1510 of FIG. 15, the lane change guidance apparatus 200 may use the distance between the vehicle and the rear vehicle The current position of the vehicle can be changed from the safety zone to the guard zone when the relative speed of the rear vehicle is more than 30 km / h, even if the current position is determined as the safety zone.

For example, when the speed limit of the rear vehicle relative speed is 30 km / h as in the second image 1520 of FIG. 15, the lane change guidance apparatus 200 may use the distance between the vehicle and the rear vehicle, However, if the relative speed of the rear vehicle is higher than the specific speed, the current position of the vehicle can be changed from the careful interval to the dangerous interval.

The lane-changing guidance apparatus 200 notifies the driver of the vehicle whether or not the lane change is possible according to the section (step S1160).

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Modification is possible. Accordingly, the spirit of the present invention should be understood only in accordance with the following claims, and all equivalents or equivalent variations thereof are included in the scope of the present invention.

200: Lane change guidance device
210:
220:
221: Line detector
222: License plate detector
230:
231:
232: relative speed calculating section
240: lane change control unit
250: lane change guidance section

Claims (12)

A lane change guidance method implemented in a lane change guidance apparatus,
Receiving a first image and a second image from a plurality of cameras at predetermined time intervals;
Detecting a specific number plate in the first image and detecting in the second image the same number plate as the detected specific number plate;
Calculating a distance between the vehicle and the rear vehicle using the number plates detected in each of the first image and the second image;
Calculating the relative speed of the rear vehicle using the predetermined time interval and the distance between the vehicle and the rear vehicle; And
Using the distance between the vehicle and the rear vehicle and the relative speed of the rear vehicle to inform the driver of the vehicle of whether or not the lane can be changed.
2. The method of claim 1, wherein detecting a specific number plate in the first image and detecting in the second image the same number plate as the detected specific number plate
Detecting a number plate closest to the moving object lane among the plurality of plate numbers in the first image. 2. The method of claim 1, wherein detecting a specific number plate in the first image and detecting in the second image the same number plate as the detected specific number plate
Setting an area corresponding to the detected height of the specific number plate in the second image and detecting the same number plate as the specified number plate in the set area.
The method according to claim 1, wherein the step of notifying the driver of the vehicle whether or not the lane change is possible
Determining a current position of the vehicle as one of a danger zone, a care zone, and a safety zone using a distance between the vehicle and the rear vehicle; And
And changing the determined interval according to the relative speed of the rear vehicle.
The method according to claim 1,
Detecting both lines of the road on which the vehicle is traveling in the first image when the state of the direction indicating module is turned on by a user operation; And
Further comprising the step of determining whether a line in the direction indicated by the direction indicating module among the both lines is a line for lane change.
The method of claim 5, wherein the step of determining whether a line in the direction indicated by the direction instruction module is a line for lane change
And determining that the line is a line for lane change when the line is a discontinuous line.
A detecting unit that detects a specific number plate in the first image and detects the same number plate as the detected specific number plate in the second image when the first image and the second image are received from the plurality of cameras at a predetermined time interval;
Calculating a distance between the vehicle and the rear vehicle using the number plates detected in each of the first image and the second image, calculating a distance between the vehicle and the rear vehicle based on the predetermined time interval and the distance between the vehicle and the rear vehicle, A calculating unit for calculating a speed; And
And a lane change notification unit that notifies the driver of the vehicle of whether or not the lane change is possible by using the distance between the vehicle and the rear vehicle and the relative speed of the rear vehicle.
8. The apparatus of claim 7, wherein the detector
And detects a number plate closest to the movement target lane among the plurality of plate numbers in the first image.
The apparatus as claimed in claim 8, wherein the detecting unit
Sets an area corresponding to the detected height of the specific number plate in the second image, and detects the same number plate as the specific number plate in the set area.
8. The method of claim 7,
A lane change control unit for determining the current position as one of a danger zone, a care zone and a safety zone using the distance between the vehicle and the rear vehicle, and changing the determined zone according to a relative speed of the rear vehicle, The lane change guidance apparatus further comprising:
11. The method according to claim 10, wherein the lane change control unit
Controls the detecting unit to detect both lines of the road on which the vehicle is traveling in the first image when the state of the direction indicating module is turned on by a user operation,
And determines whether or not a line in a direction indicated by the direction indicating module among the both lines detected by the detecting unit is a line for lane change.
12. The method according to claim 11, wherein the lane change control unit
And determines that the line is a line for lane change when the line is a discontinuous line.

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