KR20150098071A - Method for analysis lane, apparatus and system thereof - Google Patents

Abstract

The present invention relates to a method for analyzing a traffic lane, and a device and a system for the same. The present invention is capable of simply analyzing the traffic lane by computing a driving speed and a driving direction of the vehicle based on vehicle movement information according to the driving of the vehicle sensed by sensors attached to the vehicle and computing lane information with respect to a lane where the vehicle is currently positioned based on driving road information collected on a road where the vehicle drives, the driving speed, and the directional information, thus no high efficient devices are necessary. Accordingly, the present invention is capable of preventing useless energy consumption by being driven with lower power and providing a route guide by computing the accurate lane information of the driving vehicle and reflecting the computed lane information to route guide information.

Description

[0001] METHOD FOR ANALYSIS LANE, APPARATUS AND SYSTEM THEREOF [0002]

The present invention relates to a method for analyzing a lane, an apparatus and a system therefor, and more particularly to a method for analyzing a lane in which a vehicle is currently located on a driving road using vehicle motion information detected in a vehicle under running, .

The contents described in this section merely provide background information on the present embodiment and do not constitute the prior art.

It is a technology to provide safe and convenient service when driving a vehicle. It provides diverse services such as route guidance along a driving route and traffic information on a driving road through devices such as navigation.

Recently, as interest in autonomous driving of vehicles has increased, technology for autonomous driving of vehicles through unmanned vehicles has been actively developed. In the autonomous driving technology of such vehicles, road information is obtained from the running road environment, and the most important information is lane information. Therefore, it is necessary to analyze the lane information at the time of driving the vehicle and reflect the analyzed lane information to the driving of the vehicle.

Conventionally, lane information can be obtained by attaching a camera to a vehicle to analyze lane information, extracting lane information by analyzing an image taken by the camera, providing the extracted lane information to a driver, or transmitting it to an unmanned travel system .

However, such a conventional lane information analysis technique using a camera requires a high-performance apparatus for analyzing a video image, which causes a problem that a battery of a device for lane analysis is consumed.

In addition, since the lane information analysis technique using the camera may not clearly capture the lane due to the surrounding illumination of the road or other vehicles, lane information can not be clearly extracted from the captured image.

Korean Patent Laid-Open No. 2009-00820245, July 29, 2009 (name: adaptive cruise control system using lane information)

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the conventional inconveniences. In the terminal device, the speed and direction of the vehicle are calculated based on the vehicle motion information sensed according to the running of the vehicle through one or more sensors, A method for analyzing lane information which can more accurately analyze lane information by calculating lane information of a lane on which a vehicle is currently located by using road information, direction information, and traveling road information collected on the road on which the vehicle travels; and Devices and systems.

The present invention has been proposed in order to solve the conventional inconveniences. In the service device, the present invention receives vehicle motion information according to the vehicle running sensed through one or more sensors attached to the vehicle, Calculating lane information for a lane in which the vehicle is currently located by using the calculated speed and direction information of the vehicle and traveling road information collected on the road on which the vehicle travels, A method for analyzing lane information which can more accurately analyze lane information, and an apparatus and system for the method.

According to another aspect of the present invention, there is provided a terminal device including: a lower sensor unit for detecting vehicle motion information of a vehicle traveling through at least one sensor; And a control unit for calculating a speed and a direction of the vehicle based on the vehicle motion information detected by the sensor unit and using the calculated speed and direction information of the vehicle and the traveling road information collected on the road on which the vehicle travels, And a control unit for calculating lane information for the located lane.

The terminal device according to the preferred embodiment of the present invention may further include a storage unit operably connected to the control unit, storing the calculated speed and direction information of the vehicle, and storing the calculated lane information.

In the terminal device according to the preferred embodiment of the present invention, the sensor unit may include at least one of an acceleration sensor, a gyro sensor, and a magnetic sensor for detecting movement of the front and side of the vehicle.

In the terminal device according to the preferred embodiment of the present invention, the control unit may include: a vehicle speed and direction calculating module that calculates a speed and a direction of the vehicle based on the vehicle motion information sensed by the sensor unit; And a lane information calculation module for calculating lane information of the lane on which the vehicle is currently located using the traveling road information and speed and direction information of the vehicle calculated in the vehicle speed and direction calculation module.

In the terminal device according to the preferred embodiment of the present invention, the vehicle speed and direction calculation module calculates the speed and direction of the vehicle using the rotation angle, forward acceleration / deceleration, and lateral acceleration / deceleration information of the vehicle sensed by the sensor unit It is possible to calculate the information and to calculate the lateral movement distance with time.

In the terminal device according to the preferred embodiment of the present invention, the control unit confirms the current state of the vehicle using the calculated speed and direction information of the vehicle, analyzes the traveling road information, Road information and the lane where the vehicle is currently located.

In the terminal device according to the preferred embodiment of the present invention, when the current state of the vehicle is confirmed as a stop state for starting preparation, the control unit may set the current lane where the vehicle is located as the edge lane.

In the terminal device according to the preferred embodiment of the present invention, the control unit can confirm whether the vehicle is in a rotating or moving state by using the road information currently located and the checked lane information.

In the terminal device according to the preferred embodiment of the present invention, when the vehicle is moving, the control unit confirms whether the vehicle moves to the left or right based on the speed and direction information of the vehicle, It is possible to update the set lane information in accordance with the left or right moving direction of the lane information.

In the terminal device according to the preferred embodiment of the present invention, the control unit confirms whether the vehicle is currently in a left-turn or right-turn state when the vehicle is in a rotating state, , And corrects the current lane to the edge lane in the case of the right turn state.

In the terminal device according to the preferred embodiment of the present invention, the control unit determines whether or not the value of the lateral movement distance S calculated using the speed and direction information of the vehicle corresponds to the current lane width determined using the road running information It can be determined that the lane has been moved.

In the terminal device according to the preferred embodiment of the present invention, when the current location is identified as a section having a curve using the road running information, the control section judges that the current section is past a curved section .

In the terminal apparatus according to the preferred embodiment of the present invention, the control unit transmits the calculated lane information to a service apparatus linked through a communication network, and provides route guidance information reflecting the calculated lane information from the service apparatus Can receive.

According to another aspect of the present invention, there is provided a terminal apparatus comprising: a communication unit for transmitting and receiving data for lane analysis with a service apparatus interworking through a communication network; A sensor unit for sensing vehicle motion information as the vehicle travels through at least one sensor; And a control unit that is operatively connected to the communication unit and the sensor unit, collects vehicle motion information sensed through the at least one sensor, transmits the collected vehicle motion information to the service device in real time, And a control unit for controlling to receive the lane information calculated using the traveling road information collected on the road on which the vehicle travels, from the service apparatus.

According to an aspect of the present invention, there is provided a service apparatus comprising: a communication unit for transmitting and receiving data for lane analysis with a terminal apparatus interworking through a communication network; And a control unit that is operatively connected to the communication unit and receives vehicle motion information sensed according to driving of the vehicle through the at least one sensor from the terminal device, calculates the speed and direction of the vehicle based on the received vehicle motion information, And a lane analyzing unit for calculating lane information for the lane in which the vehicle is currently located using the speed and direction information of the vehicle and the traveling road information collected on the road on which the vehicle travels.

The service apparatus according to the preferred embodiment of the present invention may further include a route guidance information providing unit for reflecting the lane information calculated by the lane analyzing unit to the route guidance information and providing the route guidance information to the terminal.

According to another aspect of the present invention, there is provided a lane analysis system comprising: a service device for collecting traveling road information on a road on which a vehicle travels and providing route guidance information according to the traveling of the vehicle; And a control unit that is connected to the service apparatus through a communication network and receives route guidance information according to the running of the vehicle and the collected running road information from the service apparatus, Calculates lane information for the lane in which the vehicle is currently located using the calculated speed and direction information of the vehicle and the provided traveling road information, and transmits the calculated lane information to the service device And a terminal device.

According to another aspect of the present invention, there is provided a method for analyzing lanes in a terminal device, the method comprising the steps of: sensing vehicle motion information of a vehicle traveling through at least one sensor; Receiving traveling road information collected on a road on which the vehicle travels from a service apparatus interlocked through a communication network; Calculating a speed and a direction of the vehicle based on the sensed vehicle motion information; And calculating the lane information for the lane in which the vehicle is currently located using the calculated speed and direction information of the vehicle and the received running road information.

The method for analyzing lanes in a terminal apparatus according to a preferred embodiment of the present invention includes: transmitting the calculated lane information to the service apparatus; And receiving route guidance information reflecting the calculated lane information from the service device.

In the method for lane-line analysis in a terminal apparatus according to a preferred embodiment of the present invention, the step of calculating lane information for a lane in which the vehicle is currently located may include: Confirming the current state of the terminal; Setting a current lane in which the vehicle is located to an edge lane if the current state of the vehicle is confirmed as a stop state for starting preparation; Confirming whether the vehicle is in a rotating state using the road information and the checked lane information that the vehicle currently is located; And correcting the set lane information according to the rotational direction of the vehicle based on the speed and direction information of the vehicle when the vehicle is in a rotating state.

In the method for lane-line analysis in a terminal apparatus according to a preferred embodiment of the present invention, the step of calculating lane information for a lane in which the vehicle is currently located may include the steps of: Confirming whether the vehicle is in a moving state; And updating the set lane information according to the moving direction of the vehicle based on the speed and direction information of the vehicle when the vehicle is in a moving state.

According to another aspect of the present invention, there is provided a method for analyzing a lane in a service device, the method comprising: receiving vehicle motion information sensed by a vehicle through at least one sensor from a terminal device; Calculating a speed and a direction of the vehicle based on the received vehicle motion information; Searching travel road information collected on a traveling road based on the position of the terminal device; And calculating the lane information of the lane on which the vehicle is currently located using the calculated speed and direction information of the vehicle and the searched road information.

The method for lane analysis in the service apparatus according to the preferred embodiment of the present invention may further include reflecting the calculated lane information on the route guidance information and providing the calculated lane information to the terminal device.

According to an aspect of the present invention, there is provided a computer-readable recording medium on which a program for executing a method for lane-line analysis is recorded.

The present invention calculates the speed and direction of a vehicle on the basis of vehicle motion information according to a vehicle running sensed through sensors attached to the vehicle, calculates speed and direction information of the calculated vehicle, Since the lane information of the lane in which the vehicle is currently located is calculated using the road information, it is possible to easily analyze the lane, so that a high-performance device is not required, so that it is driven with low power and the power is wasted.

In addition, the present invention can precisely prevent departure from a route on a start road or a complicated road by providing the route guidance by calculating the accurate lane information of the driving vehicle and reflecting the calculated lane information in the route guidance information, It is possible to guide the fastest lane on the road and to perform the quick route guidance even on congested roads.

1 is a diagram illustrating a configuration of a lane analysis system according to embodiments of the present invention.
2 is a diagram showing a configuration of a terminal device in a lane analysis system according to a first embodiment of the present invention.
3 is a diagram illustrating a configuration of a terminal device in a lane analysis system according to a second embodiment of the present invention.
4 is a diagram illustrating a configuration of a terminal device in a lane analysis system according to a second embodiment of the present invention.
5 is a diagram illustrating a method for analyzing lanes in a terminal apparatus according to a first embodiment of the present invention.
6 is a diagram illustrating a method for lane-line analysis in a service apparatus according to a second embodiment of the present invention.
7 is a diagram illustrating an example for lane analysis according to embodiments of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description and the accompanying drawings, detailed description of well-known functions or constructions that may obscure the subject matter of the present invention will be omitted. It should be noted that the same constituent elements are denoted by the same reference numerals as possible throughout the drawings.

The terms and words used in the present specification and claims should not be construed to be limited to ordinary or dictionary meanings and the inventor is not limited to the concept of terminology for describing his or her invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It is to be understood that equivalents and modifications are possible.

First, a lane analysis system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating a configuration of a lane analysis system according to embodiments of the present invention.

Referring to FIG. 1, the lane analysis system may include a terminal device 100 and a service device 200 connected through a communication network 10.

The terminal device 100 is a terminal that performs voice or data communication using the communication network 10 and includes a memory for storing a browser, a program and a protocol for communicating with the service device 200 via the communication network 10, And a microprocessor for executing and controlling the program and controlling the program. That is, the terminal device 100 can be any terminal as long as it can perform server-client communication with the service device 200 and can perform a service provided to the user when the vehicle is operated in cooperation with the service device. A mobile communication terminal, a PDA, and the like. Meanwhile, the terminal device 100 is preferably manufactured with a touch screen, but is not limited thereto.

The terminal device 100 is a terminal device of a user mounted on a vehicle or mounted on a vehicle and executes various services that can be provided to the user when the vehicle is in operation. In association with the service device 200, A portable communication terminal, a portable communication terminal, a portable communication terminal, a portable communication terminal, a portable communication terminal, and the like. A vehicle-mounted computing device, and the like.

The terminal device 100 and the service device 200 are interworked through the communication network 10. The communication network 10 can be connected to the Internet using the various wired / wireless communication technologies such as the Internet network, the intranet network, the mobile communication network, Which can send and receive data. The communication network 10 is also coupled to the service device 200 and stores computing resources such as hardware and software. The communication network 10 may be a closed network such as a LAN (Local Area Network) or a WAN (Wide Area Network), an open network such as the Internet, a CDMA (Code Division Multiple Access), a WCDMA The concept is called the next generation network and computing network that will be implemented next, such as Multiple Access, Global System for Mobile Communications (GSM), Long Term Evolution (LTE) and Evolved Packet Core (EPC)

According to the first embodiment of the present invention, the terminal device 100 can analyze the direct lane information using the vehicle motion information according to the vehicle running obtained through the at least one sensor attached to the vehicle. That is, the terminal device 100 senses the vehicle motion information through one or more sensors, and receives information on the road environment around the vehicle, that is, traveling road information collected on the road on which the vehicle travels, Calculates the speed and direction of the vehicle based on the sensed vehicle information, calculates lane information for the lane where the vehicle is currently located using the calculated speed and direction information of the vehicle and the received traveling road information have. The calculated lane information can be transmitted to the service apparatus 200 so that the lane information can be reflected when the route guidance is performed in the service apparatus 200.

Meanwhile, the terminal device 100 collects vehicle motion information according to the vehicle running obtained through one or more sensors attached to the vehicle according to the second embodiment of the present invention, and transmits the collected vehicle motion information to the service device 200 ). Accordingly, the terminal device 100 can receive the lane information analyzed using the vehicle motion information in the service device 200 by reflecting the lane information in the route guidance information.

The service apparatus 200 according to the embodiments of the present invention may link the route guidance information with the terminal apparatus 100 to the terminal apparatus 100 based on the location of the terminal apparatus 100 in cooperation with the terminal apparatus 100 via the communication network 10. [ ). At this time, the route guidance information can be provided by reflecting the analyzed lane information.

In addition, the service apparatus 200 according to the second embodiment of the present invention receives the vehicle motion information collected from the terminal device 100 in real time, and displays the received vehicle motion information and the traveling The lane information may be analyzed using the road information, and the analyzed lane information may be reflected in the route guidance information and provided to the terminal device 100. [

The configuration of the terminal device 100 according to the embodiments of the present invention in the thus constructed lane analysis system will be described in detail with reference to the accompanying drawings.

FIG. 2 is a diagram illustrating a configuration of a terminal device in a lane analysis system according to a first embodiment of the present invention. FIG. 3 is a diagram illustrating a configuration of a terminal device in a lane analysis system according to a second embodiment of the present invention. Fig.

2 and 3, a terminal device 100 according to the first embodiment of the present invention includes a control unit 110, a communication unit 120, an input unit 130, a storage unit 140, an output unit 150, And a sensor unit 160.

The controller 110 according to the embodiments of the present invention performs overall control of the terminal device 100 and can control related operations, particularly for lane-based analysis.

Particularly, the control unit 110 according to the first embodiment of the present invention calculates the speed and direction of the vehicle based on the vehicle motion information collected from the vehicle, calculates the speed and direction information of the calculated vehicle, The lane information for the lane in which the vehicle is currently located can be calculated using the received traveling road information. For this, the control unit 110 may include a vehicle speed and direction calculation module 111 and a lane information calculation module 112, and may include a route guidance service for executing route guidance reflecting the analyzed lane information And an execution module (not shown).

The vehicle speed and direction calculation module 111 can calculate the speed and direction of the vehicle based on the vehicle information sensed by the sensor unit 160. [

Also, the vehicle speed and direction calculation module 111 uses the rotation angle, forward acceleration / deceleration, and lateral acceleration / deceleration information of the vehicle, which is the vehicle motion information sensed through the acceleration sensor, the gyro sensor and the magnetic sensor of the sensor unit 160 The speed and direction information of the vehicle can be calculated, and the lateral movement distance with time can be calculated.

Specifically, the vehicle speed and direction calculation module 111 calculates the vehicle speed and direction based on the vehicle angle information and the vehicle interior acceleration / deceleration y1 based on the vehicle motion information collected from the sensor unit 160, (Y1) 42 and the lateral acceleration / deceleration (X1) 44 as shown in the following Equation (1), and the forward acceleration / deceleration Can be obtained.

In addition, the vehicle speed and direction calculation module 111 can calculate the lateral movement distance S according to the time t, which is information necessary for confirming whether the lane is moved, according to Equation (2). Here, if the calculated travel distance S exceeds the width of the lane on the current traveling road, for example, 3 m or more, it can be determined that the vehicle has moved in the lane.

The lane information calculation module 112 calculates the lane information using the vehicle speed and direction information calculated by the vehicle speed and direction calculation module and the traveling road information received from the service device 200 by the communication unit 120, It is possible to calculate the lane information.

Specifically, the lane information calculation module 112 checks the current state of the vehicle using the calculated speed and direction information of the vehicle, analyzes the received running road information, and calculates the lane information of the lane on which the vehicle is currently located, Can be confirmed. For this, the lane information calculation module 112 sets the current lane in which the vehicle is located to be an edge lane when the current state of the vehicle is confirmed as a stop state for preparing for departure, It can be set as a lane.

In addition, the lane information calculation module 112 determines whether the vehicle is in a turning or moving state by using the road information and the checked lane information that the vehicle is currently located, and when the vehicle is moving, It is possible to check whether the vehicle is moving to the left or right and update the lane information set in accordance with the moving direction of the left or right side of the vehicle.

On the other hand, when the vehicle is in the rotating state, the lane information calculation module 112 confirms whether the vehicle is currently in the left or right turn state. If the lane information calculation module 112 determines that the vehicle is in the left turn state, the lane information calculation module 112 corrects the current lane to the first lane, The lane can be corrected to the edge lane.

In addition, the lane information calculation module 112 calculates the lane information using the speed and direction information of the vehicle based on the current lane information, which is determined using the road running information, If it is larger than the value for the width, it can be judged that the lane has moved. At this time, the lane information calculation module 112 can determine that the current lane is changed, that is, it passes the curve section, which is not the lane change, when the current position is identified as the section having the curve by using the received running road information.

Meanwhile, the control unit 110 according to the second embodiment of the present invention controls to transmit the vehicle motion information collected from the vehicle to the service device 200, The route guidance service can be executed by receiving route guidance information reflecting the information and lane information. For this, the control unit 110 may be configured to include a route guidance service module (not shown).

The communication unit 120 according to the embodiments of the present invention communicates with the service device 200 through the communication network 10 to transmit and receive messages for lane analysis and route guidance. The communication unit 120 can transmit and receive data through various communication methods as well as wire and wireless methods. In addition, the communication unit 120 may transmit and receive data using one or more communication methods. For this purpose, the communication unit 120 may include a plurality of communication modules that transmit and receive data according to different communication methods, respectively. In particular, the communication unit 120 may transmit the calculated lane information to the service device 200, and may receive route guidance information reflecting the lane information calculated from the service device 200, and may transmit the route guidance information to the control unit 110. [

The input unit 130 according to embodiments of the present invention can generate a user input signal corresponding to a request or information of a user according to a user's operation and can be implemented as various input means that are currently commercialized or can be commercialized in the future For example, a general input device such as a keyboard, a mouse, a joystick, a touch screen, a touch pad, etc., as well as a gesture input means for sensing a user's motion and generating a specific input signal.

The storage unit 140 according to embodiments of the present invention stores information necessary for the operation of the terminal device 100 and particularly stores information on the vehicle motion information collected by the sensor unit 160, Information and calculated lane information, and the like. In addition, the storage unit 140 may store route guidance information reflecting the lane information received from the service device 200. The storage unit 140 may be an optical storage medium such as a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, a CD-ROM (Compact Disc Read Only Memory), a DVD (Digital Video Disk) A magneto-optical medium such as a floppy disk and a ROM, a random access memory (RAM), and a flash memory.

The output unit 150 according to embodiments of the present invention provides means for allowing the user to recognize the operation result or status of the terminal device 100. For example, the output unit 150 may include a display unit that visually outputs the result, A speaker for outputting an audible sound, and the like. Particularly, in the present invention, a screen related to lane information analysis and route guidance service driven by the terminal device 100 can be displayed.

The sensor unit 160 according to embodiments of the present invention may include at least one sensor to detect movement of the vehicle according to the running of the vehicle and collect information on the speed and direction of the vehicle based on the information about the motion of the vehicle. In particular, the sensor unit 160 may detect the forward and side movements of the vehicle to collect forward acceleration / deceleration inside the vehicle and side acceleration / deceleration information of the inside of the vehicle. For example, the acceleration sensor, the gyro sensor, ≪ / RTI >

Next, the configuration of the service apparatus 200 according to the embodiment of the present invention will be described in detail with reference to FIG. 3 attached to the lane analysis system.

The service device 200 may include a communication unit 210, a lane analysis unit 220, a route guidance information providing unit 230, an information collecting unit 240 and a storage unit 250.

The communication unit 210 according to embodiments of the present invention transmits and receives messages for lane analysis and route guidance to the terminal device 100 through the communication network 10. [ The communication unit 210 can transmit and receive data through various communication methods as well as wire and wireless methods. In addition, the communication unit 210 may transmit and receive data using one or more communication methods. For this purpose, the communication unit 210 may include a plurality of communication modules that transmit and receive data according to different communication methods, respectively. In particular, the communication unit 210 according to the second embodiment of the present invention receives the vehicle motion information from the terminal device 100 and transmits the vehicle motion information to the lane analysis unit 220. The lane information analysis unit 220 analyzes the lane information The route guidance information providing unit 230 can receive the reflected route guidance information and transmit it to the terminal device 100. [

The lane analyzing unit 220 controls the overall operation of the service device 200 and controls operations such as the analysis of the lane and transmits the analyzed lane information to the route guidance information providing unit 230 so as to reflect the route guidance information have. The lane analyzing unit 220 calculates the speed and direction of the vehicle on the basis of the vehicle motion information received from the terminal device 100 and calculates the speed and direction of the vehicle based on the calculated speed and direction information, It is possible to calculate the lane information of the lane in which the vehicle is currently located using the traveling road information. The concrete lane information calculation operation is the same as the operation of the lane information calculation module 112 of the terminal device 100, so a detailed description thereof will be omitted.

The route guidance information providing unit 230 may reflect the lane information transmitted from the lane analyzing unit 220 to the route guidance information to be transmitted to the terminal device 100 and provide the route guidance information to the terminal device 100. [

The information collecting unit 240 collects the traveling road information on the road environment surrounding the vehicle, that is, the road on which the vehicle travels, and collects the traveling road information from the traffic control system or other traffic information collection servers.

The storage unit 250 may store relevant information for providing lane analysis and route guidance information. Specifically, the storage unit 250 may store the vehicle motion information, the analyzed lane information, the collected driving road information, and the route guidance information received from the terminal device 100. [ The storage unit 250 may be an optical recording medium such as a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, a CD-ROM (Compact Disc Read Only Memory), a DVD (Digital Video Disk) A magneto-optical medium such as a floppy disk and a ROM, a random access memory (RAM), and a flash memory.

A method for lane analysis according to embodiments of the present invention in a lane analysis system constructed as above will now be described in detail with reference to the accompanying drawings. First, a method for analyzing lanes in a terminal apparatus according to a first embodiment of the present invention will be described.

5 is a diagram illustrating a method for analyzing lanes in a terminal apparatus according to a first embodiment of the present invention.

Referring to FIG. 5, in step 1101, the terminal device 100 collects vehicle motion information sensed through one or more sensors (such as an acceleration sensor and a gyro sensor) attached to a vehicle. At this time, in step 1102, the terminal device 100 receives the traveling road information collected on the road on which the vehicle travels based on the current position from the service device 200. [

Accordingly, in step 1103, the terminal device 100 analyzes the collected vehicle motion information to calculate the current speed and direction of the vehicle, grasps the current state of the vehicle using the calculated current speed and direction information of the vehicle, Thereby analyzing the running road information.

Thereafter, in step 1104, the terminal device 100 confirms whether the current state of the identified vehicle is a stop state for when the devices for running in the stop state are executed, that is, for starting preparation. If it is determined that the vehicle is not in the stop state for starting preparation, for example, if the parking or route guidance service is not executed, the terminal device 100 sets the current lane to an unknown lane in step 1105, .

On the other hand, if it is determined that the vehicle is in the stop state for starting preparation, the terminal device 100 sets the current lane as an edge lane in step 1106. [

Next, the terminal device 100 calculates the speed and direction of the vehicle by analyzing the vehicle motion information according to the running of the vehicle at the time of starting the vehicle, calculates the speed and direction of the vehicle, analyzes the analyzed traveling road information, And corrects and updates the predetermined lane information based on the calculated lane information.

Specifically, in step 1107, the terminal device 100 confirms whether the current vehicle is in a turning or moving state based on the analyzed traveling road information. That is, the terminal device 100 confirms whether the current road information is an intersection or a rotation section, and if the current vehicle is located at an intersection or a rotation section and the present lane is the edge or the first lane, In the remaining cases, it can be determined that the lane is in a moving state.

If it is determined that the vehicle is in a lane-moving state other than the rotational state, the terminal device 100 updates the lane information in step 1108. That is, the terminal device 100 updates the lane information when the vehicle moves to the left or right based on the vehicle motion information sensed through the lateral acceleration sensor. For example, when a vehicle stopped on one-way four-lane roads starts, the terminal device 100 sets the current lane to four-lane, and when accelerating to the left while continuously accelerating or decelerating forward, The current lane is set as the third lane and the current lane information is updated. At this time, the terminal device 100 determines that the lane is moved when the value of the lateral movement distance S is larger than the lane width.

On the other hand, if it is determined that the vehicle is in the rotated state, the terminal device 100 corrects the current lane in step 1109. That is, the terminal device 100 corrects the lane information when it makes a left turn or a right turn at an intersection or a rotation section. For example, when the vehicle currently makes a left turn, the terminal device 100 corrects the current lane to the first lane according to the road condition, and corrects the current lane to the edge lane when the vehicle is currently turning right.

When the lane information is analyzed as described above, the terminal device 100 transmits the analyzed lane information to the service device 200, and the service device 100 grasps the lane or the lane that is blocked, That is, the analyzed lane information can be reflected in the route guidance information.

Next, a method for analyzing lanes in a terminal apparatus according to a second embodiment of the present invention will be described.

6 is a diagram illustrating a method for lane-line analysis in a service apparatus according to a second embodiment of the present invention.

6, the terminal device 100 collects vehicle motion information sensed through one or more sensors (such as an acceleration sensor and a gyro sensor) attached to a vehicle, and transmits the collected vehicle motion information to the service device 200 do.

Accordingly, in step 2101, the service device 200 receives the vehicle motion information from the terminal device 100. In step 2102, the current position of the vehicle, that is, the terminal device 100 is determined, and based on the determined current position, And searches the road information collected on the road.

Thereafter, in step 2103, the service device 200 analyzes the received vehicle motion information to calculate the speed and direction of the vehicle.

Then, in step 2104, the service device analyzes the current state of the vehicle using the calculated speed and direction information of the vehicle, and analyzes the searched road information.

In step 2104, the service device 100 sets the current lane of the vehicle based on the detected current state of the vehicle and the analyzed traveling road information. This method of setting the current lane is the same as the method of setting the current lane in the terminal device 100, and thus a detailed description thereof will be omitted.

Then, in step 2105, the service device 200 calculates the speed and direction of the vehicle by analyzing the vehicle motion information according to the running of the present vehicle at the time of starting the vehicle, calculates the traveling road information, And calculates the current lane information of the vehicle based on the direction information. Then, in step 2106, the service device 200 corrects or updates the preset lane information with the calculated lane information. A specific method of correcting or updating the lane information is the same as the method of correcting and updating the lane information in the terminal device 100, so a detailed description thereof will be omitted.

When the lane information is analyzed as described above, the service apparatus 100 grasps the lane or the lane which obstructs the analyzed lane information, and uses the lane information as information for quick route guidance, that is, the analyzed lane information is reflected in the route guidance information To the terminal device 100.

On the other hand, the recorded program instructions may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. For example, the recording medium may be an optical recording medium such as a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, a compact disk read only memory (CD-ROM), a digital video disk (DVD) Includes a hardware device that is specially configured to store and execute program instructions such as a magneto-optical medium such as a floppy disk and a ROM, a random access memory (RAM), a flash memory, do. Examples of program instructions may include machine language code such as those generated by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like. Such a hardware device may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

Further, a computer program (also known as a program, software, software application, script or code) that is embedded in the apparatus according to the present invention and which implements the method according to the present invention includes a compiled or interpreted language, a priori or procedural language , And may be deployed in any form including standalone programs or modules, components, subroutines, or other units suitable for use in a computer environment. A computer program does not necessarily correspond to a file in the file system. The program may be stored in a single file provided to the requested program, or in multiple interactive files (e.g., a file storing one or more modules, subprograms, or portions of code) (E.g., one or more scripts stored in a markup language document). A computer program may be deployed to run on multiple computers or on one computer, located on a single site or distributed across multiple sites and interconnected by a communications network.

It should be noted that the embodiments of the present invention disclosed in the present specification and drawings are only illustrative of specific examples for the purpose of understanding and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

In addition, while the specification contains a number of specific implementation details, it should be understood that they are not to be construed as limitations on the scope of any invention or claim, but rather on the features that may be specific to a particular embodiment of a particular invention Should be understood as an explanation. Certain features described herein in the context of separate embodiments may be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented in multiple embodiments, either individually or in any suitable subcombination. Further, although the features may operate in a particular combination and may be initially described as so claimed, one or more features from the claimed combination may in some cases be excluded from the combination, Or a variant of a subcombination.

Likewise, although the operations are depicted in the drawings in a particular order, it should be understood that such operations must be performed in that particular order or sequential order shown to achieve the desired result, or that all illustrated operations should be performed. Also, the separation of the various system components of the above-described embodiments should not be understood as requiring such separation in all embodiments, and the described program components and systems will generally be integrated together into a single software product or packaged into multiple software products It should be understood.

The present invention relates to a method for lane-line analysis, an apparatus and a system therefor, a method for calculating a speed and a direction of a vehicle on the basis of vehicle motion information according to a vehicle running sensed through sensors attached to the vehicle, Speed and direction information and the traveling road information collected in the road environment around the vehicle to calculate the lane information of the lane in which the vehicle is currently located so that the lane can be easily analyzed. Therefore, a high-performance device is not required, Power consumption can be prevented.

In addition, the present invention can precisely prevent departure from a route on a start road or a complicated road by providing the route guidance by calculating the accurate lane information of the driving vehicle and reflecting the calculated lane information in the route guidance information, It is possible to guide the fastest lane on the road and to perform the quick route guidance even on congested roads.

In addition, the present invention has a possibility of commercial use or business, and is industrially applicable because it is practically possible to carry out clearly.

10: communication network 100: terminal device 110:
111: vehicle speed and direction calculation module 112: lane information calculation module
120: communication unit 130: input unit 140:
150: output unit 160: sensor unit 200: service device
210: communication unit 220: lane analysis unit 230: route guidance information providing unit
240: Information collecting unit 250:

Claims (24)

A sensor unit for sensing vehicle motion information as the vehicle travels through at least one sensor; And
The controller calculates the speed and direction of the vehicle on the basis of the vehicle motion information detected by the sensor unit, calculates the speed and direction of the vehicle based on the speed and direction information of the calculated vehicle and the traveling road information collected on the road on which the vehicle travels, A control unit for calculating lane information for the lane;
And a terminal device. The method according to claim 1,
A storage unit operably connected to the control unit for storing speed and direction information of the calculated vehicle and storing the calculated lane information;
The terminal device further comprising: The apparatus according to claim 1,
An acceleration sensor, a gyro sensor, and a magnetic sensor for detecting movement of the front and side of the vehicle. The apparatus of claim 1,
A vehicle speed and direction calculation module for calculating a speed and a direction of the vehicle based on the vehicle motion information sensed by the sensor unit; And
A lane information calculation module for calculating lane information on a lane in which the vehicle is currently located using the speed and direction information of the vehicle calculated in the vehicle speed and direction calculation module and the traveling road information;
And a terminal device. The vehicle speed and direction calculating module according to claim 4,
Wherein the speed and direction information of the vehicle is calculated using the rotation angle, forward acceleration / deceleration, and side acceleration / deceleration information of the vehicle sensed by the sensor unit, and the lateral travel distance with time is calculated. The apparatus of claim 1,
Wherein the control unit checks the current state of the vehicle using the calculated speed and direction information of the vehicle and analyzes the traveling road information to confirm the road information on which the vehicle is currently located and the lane where the vehicle is currently located. Device. 7. The apparatus of claim 6,
And sets the current lane in which the vehicle is located as an edge lane when the current state of the vehicle is confirmed as a stop state for starting preparation. 7. The apparatus of claim 6,
Wherein the control unit confirms whether the vehicle is in a rotating or moving state by using the road information and the checked lane information that the vehicle is currently located. 9. The apparatus according to claim 8,
When the vehicle is in a moving state, the control unit checks whether the vehicle moves to the left or right based on the speed and direction information of the vehicle, and updates the set lane information according to the left or right moving direction of the vehicle . 9. The apparatus according to claim 8,
If the vehicle is in the rotated state, it is checked whether the vehicle is currently in a left-turn or right-turn state. If the vehicle is in the left-turn state, the current lane is corrected to the first lane. . 9. The apparatus according to claim 8,
When the value of the lateral movement distance S calculated using the speed and direction information of the vehicle is greater than the value of the current lane width confirmed using the road running information, Device. 12. The apparatus according to claim 11,
When the current position is identified as a section having a curve by using the road running information, it is determined that the current section passes the curved section rather than the current lane. The apparatus of claim 1,
And transmits the calculated lane information to a service apparatus linked through a communication network, and receives route guidance information reflecting the calculated lane information from the service apparatus. A communication unit for transmitting and receiving data for lane analysis with a service device interworking through a communication network;
A sensor unit for sensing vehicle motion information as the vehicle travels through at least one sensor; And
And a sensor unit operatively connected to the sensor unit to collect vehicle motion information sensed through the at least one sensor and transmit the collected vehicle motion information to the service device in real time, A control unit for controlling the service device to receive lane information calculated using traveling road information collected on a road on which the vehicle travels;
And a terminal device. A communication unit for transmitting and receiving data for lane analysis with a terminal apparatus interworking through a communication network; And
And a control unit that is operatively connected to the communication unit and receives the vehicle motion information detected by the at least one sensor from the terminal device, calculates the speed and direction of the vehicle based on the received vehicle motion information, A lane analysis unit for calculating lane information for a lane in which the vehicle is currently located using speed and direction information of the lane on which the vehicle is currently traveling and traveling road information collected on the road on which the vehicle travels;
Wherein the service device comprises: 16. The method of claim 15,
A route guidance information providing unit for reflecting the lane information calculated by the lane analyzing unit to the route guidance information and providing the route guidance information to the terminal;
Further comprising: A service device for collecting traveling road information on a road on which the vehicle travels and providing route guidance information according to the traveling of the vehicle; And
The information processing apparatus according to any one of claims 1 to 3, further comprising: a control unit that is connected to the service apparatus through a communication network, receives route guidance information according to travel of the vehicle from the service apparatus and the collected travel road information, And calculates the lane information of the lane on which the vehicle is currently located using the calculated speed and direction information of the vehicle and the received traveling road information and transmits the calculated lane information to the service device A terminal device;
The lane analysis system comprising: Sensing vehicle motion information as the vehicle travels through one or more sensors;
Receiving traveling road information collected on a road on which the vehicle travels from a service apparatus interlocked through a communication network;
Calculating a speed and a direction of the vehicle based on the sensed vehicle motion information; And
Calculating lane information for the lane in which the vehicle is currently located using the calculated speed and direction information of the vehicle and the received running road information;
And a second step of analyzing the lane in the terminal device. 19. The method of claim 18,
Transmitting the calculated lane information to the service device; And
Receiving route guidance information reflecting the calculated lane information from the service device;
Further comprising the steps of: determining whether the terminal device is a terminal device. The method according to claim 18, wherein the step of calculating lane information for a lane in which the vehicle is currently located comprises:
Checking the current state of the vehicle using the calculated speed and direction information of the vehicle;
Setting a current lane in which the vehicle is located to an edge lane if the current state of the vehicle is confirmed as a stop state for starting preparation;
Confirming whether the vehicle is in a rotating state using the road information and the checked lane information that the vehicle currently is located; And
Correcting the set lane information according to the rotational direction of the vehicle based on the speed and direction information of the vehicle when the vehicle is in a rotating state;
And a second step of analyzing the lane in the terminal device. The method according to claim 20, wherein the step of calculating lane information for a lane in which the vehicle is currently located comprises:
Confirming whether the vehicle is in a moving state using the road information and the checked lane information that the vehicle currently is located; And
Updating the set lane information according to the moving direction of the vehicle based on the speed and direction information of the vehicle when the vehicle is in a moving state;
Further comprising the steps of: determining whether the terminal device is a terminal device. Receiving vehicle motion information from the terminal device through the at least one sensor;
Calculating a speed and a direction of the vehicle based on the received vehicle motion information;
Searching travel road information collected on a traveling road based on the position of the terminal device; And
Calculating lane information for the lane in which the vehicle is currently located using the calculated speed and direction information of the vehicle and the searched road information;
The method comprising the steps of: 23. The method of claim 22,
Reflecting the calculated lane information to route guidance information and providing the route guidance information to the terminal device;
Further comprising the steps of: (a) determining whether a service is available in the service device; A computer-readable recording medium having recorded thereon a program for executing the method for lane analysis according to any one of claims 18 to 23.

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