KR20160089111A - Apparatus and method for re-establishment of driving routes - Google Patents

Abstract

Provided is a device for resetting the driving route in advance if driving through the set route on the current road seems unavailable. The device for resetting the driving route includes: a driving road recognition unit which receives driving data from at least one among a camera and a plurality of sensors attached onto a target vehicle and recognizes the currently-driving road of the target vehicle; and a route guiding unit which provides the expected route to the destination of the target vehicle and road data to drive based on the recognized currently-driving road. The route guiding unit monitors the driving state of the target vehicle continuously and if it is determine that driving through the expected route is unavailable re-recognizes the currently-driving road of the target vehicle and searches for a new route.

Description

[0001] APPARATUS AND METHOD FOR RE-ESTABLISHMENT OF DRIVING ROUTES [0002]

The present invention relates to a technique for resetting a route in a driving lane and more particularly relates to a device and a method for resetting and delivering a route in advance when traveling in a lane based route guidance system is predicted to be difficult to travel on a route set in a lane .

The embodiments of the present invention are derived from research carried out with the support of the Ministry of Knowledge Economy's industrial fusion technology development project. Development of Vehicle Augmented Reality Information System for Driver 's View Center to Improve Operation Stability and Convenience]

A route guidance system is a system for providing a route guidance service so that a driver can quickly move to a destination place by using a navigation device. In the case of the present route guidance system, it reflects current traffic situation or provides various routes for driver's purpose such as shortest distance, minimum time, highway traffic information, and free traffic road information. To this end, recently introduced vehicles are equipped with various cameras and sensors, collect information that the driver does not recognize, and provide various information necessary for the driver to drive based on the collected information.

For example, in addition to the existing navigation function, it is possible to recognize the current car of the current driving vehicle, the distance to the lane, the distance to the next car based on the driving-related information collected through the camera mounted on the vehicle, Information such as 'which car the car is currently traveling on and which car should be used to drive to the expected route'.

However, in the existing route guidance system, the route re-search is performed only when the target vehicle recognizes that the destination vehicle has departed from the destination route guided by the navigation apparatus. However, when the route re- An uncomfortable situation may occur to the driver. Therefore, in order to provide safer and more efficient route guidance, it is necessary to perform route re-establishment in advance when the target vehicle is expected to continuously monitor the lane on the road and depart the expected route to the destination.

According to one aspect of the present invention, there is provided a driving lane recognition apparatus comprising: a driving lane recognition unit that receives driving information from at least one of a camera and a plurality of sensors attached to a target vehicle and recognizes a current driving lane of the target vehicle; And a route guidance unit for providing a predicted route to the destination of the target vehicle and lane information to be driven, wherein the route guidance unit continuously monitors the moving state of the target vehicle, And if it is determined that the vehicle is a new vehicle, recognizes the current driving lane of the target vehicle and re-searches the route.

1 is a block diagram illustrating a travel path resetting apparatus according to an embodiment.
FIG. 2 is a block diagram showing a route guidance system to which a traveling route resetting apparatus according to an embodiment is applied.
FIG. 3 is a view for explaining a process for a left turn on a destination path of a target vehicle according to an embodiment.
4 is a flowchart illustrating a path resetting method of a left turn process according to an embodiment of the present invention.
5 is a flowchart illustrating a method of monitoring a left turn progress of a target vehicle according to an embodiment.
FIG. 6 is a diagram illustrating a process of proceeding straight ahead on a destination path of a target vehicle according to an embodiment.
FIG. 7 is a flowchart illustrating a path resetting method of a straight forward process according to an embodiment.
FIG. 8 is a flowchart illustrating a method of monitoring a straight running process of a target vehicle according to an embodiment.

In the following, some embodiments will be described in detail with reference to the accompanying drawings. However, it is not limited or limited by these embodiments. Like reference symbols in the drawings denote like elements.

Although the terms used in the following description have selected the general terms that are widely used in the present invention while considering the functions of the present invention, they may vary depending on the intention or custom of the artisan, the emergence of new technology, and the like.

Also, in certain cases, there may be terms chosen arbitrarily by the applicant for the sake of understanding and / or convenience of explanation, and in this case the meaning of the detailed description in the corresponding description section. Therefore, the term used in the following description should be understood based on the meaning of the term, not the name of a simple term, and the contents throughout the specification.

1 is a block diagram illustrating a travel path resetting apparatus according to an embodiment.

The traveling path resetting apparatus 100 may include a traveling lane recognizing unit 110 and a route guiding unit 120.

The driving lane recognizing unit 110 can receive the driving information from at least one of the camera and the plurality of sensors attached to the target vehicle and recognize the current driving lane of the target vehicle.

The route guidance unit 120 can guide the estimated route to the destination of the target vehicle and the lane information to be driven on the basis of the recognized current lane.

The route guide unit 120 receives the location information from the GPS receiver, and the received location information is converted into information that can map the current location map-matched on the route guidance map, Is used for routing and guidance to the destination of the destination.

In addition, the route guide unit 120 may continuously monitor the moving state of the target vehicle, and may determine in advance whether or not the travel to the expected route is possible.

As a result of the determination, if it is determined that the target vehicle can not proceed to the expected route, the route guide unit 120 recognizes the current driving lane and the estimated driving lane of the target vehicle again, The route to the destination is rediscovered based on the lane and the estimated driving lane.

The traveling route reestablishment device continuously monitors the lane on which the target vehicle is traveling so that it is expected that the target vehicle is expected to depart from the predicted route such as turning left or turning straight at the intersection in the course of traveling the route to the destination It is judged in advance, and the next possible route is reset before the passage of the point.

FIG. 2 is a block diagram showing a route guidance system to which a traveling route resetting apparatus according to an embodiment is applied.

The route guidance system sets the route to the destination of the target vehicle inputted by the driver using the travel information collected from the GPS receiver, the camera, etc., the in-vehicle network information acquired from the target vehicle, and the route guidance map information And determines a lane on which the target vehicle should travel, and provides a service to guide the driver through the driver's guide. In addition, if it is impossible to drive the target vehicle through the driver's guide device, the travel route resetting device 200 may determine whether the current route is predictable and reset the travel route, The driver may be provided with a service of transferring the information to the driver's guide device again.

The travel route resetting apparatus 200 may include a route guide unit 210, a travel lane recognizing unit 220, and a map information DB 230.

The driving lane recognizing unit 220 receives driving information for the target vehicle through at least one of a camera and a plurality of sensors attached to the target vehicle. The driving lane recognizing unit 220 extracts information on the current driving lane information of the target vehicle, the distance between the lane and the vehicle, the angle between the lane and the vehicle, based on the received running information, And transmits it to the route guide unit 210.

The route guidance unit 210 provides an expected route to a destination and lane information to be driven based on the information received from the lane recognition unit 220 and the location information of the target vehicle received from the GPS receiver do. In addition, the route guide unit 210 may check the progress of the predicted route in real time through continuous monitoring of the moving state of the target vehicle, and if it is predicted that progress to the predicted route is impossible, It is possible to recognize again the current driving lane and the estimated driving lane again and search again for a new route.

The route guidance unit 210 may include a route setting unit 211, a route resetting unit 212, a driving lane determination / guidance unit 213, and a vehicle behavior monitoring unit 214.

The full path setting unit 211 sets a path to a destination input by the driver to the target vehicle. The full path setting unit 211 may establish one or more paths to the destination in connection with the map information DB 230 and store the path.

The route reestablishing unit 212 reestablishes the route to the destination on the basis of the departed location when the target vehicle is expected to leave the predicted route currently in progress.

The driving lane determination / guidance unit 213 uses the current driving lane information of the target vehicle received from the driving lane recognizing unit 220 and one or more paths from the overall path setting unit 211 to the destination And determines the lane on which the target vehicle can travel on the currently anticipated route and the lane on which it should travel, and guides the lane to the target vehicle. If it is necessary to move to an intersection or an entry section in the course of traveling the destination along the expected route, the driving lane determination / guidance unit 213 may move It can also guide you to the car you need.

The vehicle behavior monitoring unit 214 continuously monitors the moving state of the target vehicle by receiving the in-vehicle network information and referring to the recognition result of the traveling vehicle and the driving operation state of the driver. As a result of the monitoring performed by the vehicle behavior monitoring unit 214, if it is predicted that the vehicle can not enter the lane guided by the lane departure / guidance unit 213, it recognizes the present lane and the estimated lane again, The control unit 212 may cause the new vehicle to re-search for a new route with the next expected position of the target vehicle as a starting point.

The route guidance unit 210 guides the progress or movement of the driving lane according to the expected route to the destination based on the current position of the target vehicle and then determines whether or not the target vehicle has moved to the guided lane The average speed of the target vehicle, the time remaining until reaching the intersection, and the like. According to the prediction result, it is determined whether or not a route re-search is necessary. The information about the speed of the target vehicle, the steering angle, the operation of the turn signal lamp, the lateral acceleration, And continuously monitors the movement state of the robot. The route guidance unit 210 recognizes the current driving lane and the estimated driving lane again when the target vehicle needs to be changed in the currently anticipated route, re-searches the route again, and transmits the route to the driver guidance apparatus You can give.

FIG. 3 is a view for explaining a process for a left turn on a destination path of a target vehicle according to an embodiment.

Referring to FIG. 3, the target vehicle currently traveling at position 1 needs a left turn in order to proceed to the expected route to the destination.

To this end, based on the travel information of the target vehicle received by the travel lane recognizing unit 110 of the travel route resetting apparatus 100, the route guiding unit 120 determines that the current lane is not a left lane , And guides the change to the left lane.

The route guide unit 120 continuously monitors whether the vehicle is changed to the lane of the target vehicle and whether the driver is operating after the lane change guidance.

As a result of the monitoring, if the target vehicle has moved to the second position, which is a left-turn lane through a change in the car, it is possible to proceed to the predicted route.

If the target vehicle has not changed to the left-turn lane (lane 2), the route guidance unit 120 calculates the estimated arrival time to the intersection based on the speed of the target vehicle or the distance to the intersection, Check whether there is time available for movement to the location.

If it is determined that the time to travel in the route guide unit 120 is insufficient, a new route is searched based on the point A across the intersection in the state where the target vehicle continues to maintain the central lane (position 3) When the target vehicle is in the right lane (position 4), a new route is rediscovered and guided based on the point B which is a right-turning lane.

If the target vehicle has appropriately moved to the left-turn lane (position 2) in accordance with the lane change guidance, it does not need to change the lane guidance any longer and does not have to search again for the new lane.

The route guide unit 120 continuously monitors the moving state of the target vehicle along with the change guidance on the basis of the current driving lane until the route guide unit passes the intersection after the route guidance at the intersection. The monitoring of the moving state of the target vehicle may be performed by referring to the in-vehicle network information related to the target vehicle, the recognition result of the target vehicle, and the driving operation state of the driver to determine whether the speed, The lateral acceleration, the angle of the lane and the difference, predicts the driving lane expected for the target vehicle on the basis of the obtained information, and determines whether the vehicle is changed or re-guided according to the predicted result .

4 and 5 are flowcharts of a case where a left turn on the destination path of the target vehicle proceeds according to an embodiment.

First, FIG. 4 shows an embodiment of a path resetting method for a left turn process.

In step 410, when a left turn or a right turn in the next intersection is required on the destination route of the target vehicle, it is guided to the driver of the target vehicle.

In step 420, it is determined whether the current driving lane of the target vehicle is the guided left-turn or right-turnable lane.

As a result of the determination, if the current driving lane corresponds to a lane capable of making a left turn or a right turn, the driving route resetting device omits the lane change guidance process 430, and if the current lane passes through the intersection, And continuously monitors the driver's operation and vehicle movement status (440).

However, if it is determined that the driving lane is not a lane capable of turning left or right, it is guided to the lane on which the vehicle can turn left or right as indicated on the expected route (430) (440). If the driver has not been operated by the driver, it is checked whether the vehicle has been properly changed by the driver.

In step 440, the monitoring may be performed in a process that is separate from subsequent processes.

As a result of the monitoring of the traveling route reestablishment apparatus, if there is a change in the vehicle, it is determined whether additional travel is required to enter the lane allowing the left or right turn, and whether the changed lane corresponds to the left or right lane (450).

If the traveling path resetting device determines that the vehicle has entered the left or right turnable lane for the target vehicle, it monitors the driver operation to maintain the current lane.

However, if it is determined that the target vehicle has not successfully entered the guided lane, the following process proceeds.

In this case, if the current vehicle does not enter the guided vehicle and the current driving lane is not a vehicle capable of turning left or right according to the anticipated route, then at step 460, The estimated time of arrival of up to. The estimated arrival time to the intersection can be calculated using the distance remaining to the intersection and the average speed for a predetermined time until arriving at the current position.

In step 470, it is determined whether the target vehicle can be moved to the guide lane by referring to the calculated estimated arrival time. If it is time to move to the guided lane until the calculated estimated arrival time, the user is guided to change the car again (430).

 If not, route re-search is performed based on the currently located driving lane. The time available for moving to the guided lane can be calculated using the average lane change time of the driver.

If it is determined in step 480 that the target vehicle is presently in the straight lane,

As a result of the determination, when the target vehicle is presently on the straight lane, the route search is performed along the expected straight lane to the starting point of the intersection to guide the new route (481). If the target vehicle is in a right turn lane instead of a straight lane (490), the vehicle is guided to the start point of the lane that appears after the right turn (491).

Conversely, if the vehicle is in a left-turn lane in a situation where a right turn lane is required, a route re-search is performed by starting from the lane point that appears after the left turn.

The traveling route searching method of FIG. 4 is only an embodiment and can be performed in various ways according to a result of monitoring the moving state of the vehicle according to the driver's operation of the target vehicle.

FIG. 5 is a view showing an embodiment of a method of monitoring the left turn progress of the target vehicle, which can be understood as a flowchart of the detailed operation of the driver operation monitoring process 440 of FIG.

In the driver operation monitoring process 440 of the traveling path resetting device, the driver operation state of the target vehicle is continuously monitored to determine whether or not the route is searched. When the motion of the target vehicle is detected, do.

In step 510, information such as the speed of the target vehicle, the steering angle, the operation of the turn signal light, the lateral acceleration, the angle between the lane and the vehicle is obtained with reference to the in-vehicle network information related to the target vehicle. The driver determines whether there is a move to change the vehicle.

As a result of the determination, when the operation of the driver is sensed, a lane and a position expected to be driven by the target vehicle are calculated (520).

(530) whether the target vehicle can be properly positioned in the left-turn lane in a situation where the target vehicle needs a left turn to proceed to a predicted route to a destination. As a result of the prediction, if the target vehicle is expected to be located in the left-turn lane, it follows the process of FIG. 4 (531) without a separate re-search process.

However, if the subject vehicle is expected to be located in a lane other than a left-turn lane (540), a route rediscovery is required.

If it is predicted that the target vehicle is located in the straight lane of the lane, the route re-search is performed based on the opposite side of the intersection (541). If the target vehicle is expected to be located in the right lane of the intersection, And performs a search to guide the driver to a new route (542).

The driver's operation monitoring process of FIG. 5 continues until the target vehicle completely crosses the intersection, and even if the path has already been guided as a result of FIG. 4, the re-search can be performed reflecting the driver's operation state of the target vehicle.

FIG. 6 is a diagram illustrating a process of proceeding straight ahead on a destination path of a target vehicle according to an embodiment.

Referring to FIG. 6, the target vehicle currently in the first position is in a situation where it is necessary to go straight ahead at an intersection to proceed to a predicted route to a destination.

To this end, the route guidance unit 120 determines that the current driving lane is not a straight lane based on the traveling information of the target vehicle received by the lane recognition unit 110 of the traveling route resetting apparatus 100 , And guides the change to the straight ahead lane.

The route guide unit 120 continuously monitors whether the vehicle is changed to the lane of the target vehicle and whether the driver is operating after the lane change guidance.

As a result of the monitoring, if the target vehicle has moved to the third position, which is a straight lane through the change of the lane, it is necessary to proceed to the predicted route. However, if the lane change is not properly performed,

If the target vehicle has not changed to the straight lane (lane 3), the route guide unit 120 calculates the estimated arrival time to the intersection based on the speed of the target vehicle or the distance to the intersection, Check whether there is time available for movement to the location.

If it is determined that the time to travel by the route guide unit 120 is insufficient, the target vehicle may continue searching for a new route on the basis of the point A that is the left lane of the intersection When the target vehicle is in the right lane (position 4), a new route is rediscovered based on the point B, which is a right-side lane, and then guided.

If the target vehicle has properly moved to the straight lane (position 3) according to the lane change guidance, it does not need to change the lane guidance any longer and does not have to rediscover the new lane.

The route guide unit 120 continuously monitors the moving state of the target vehicle along with the change guidance on the basis of the current driving lane until the route guide unit passes the intersection after the route guidance at the intersection. The monitoring of the moving state of the target vehicle may be performed by referring to the in-vehicle network information related to the target vehicle, the recognition result of the target vehicle, and the driving operation state of the driver to determine whether the speed, The lateral acceleration, the angle of the lane and the difference, predicts the driving lane expected for the target vehicle on the basis of the obtained information, and determines whether the vehicle is changed or re-guided according to the predicted result .

FIGS. 7 and 8 are flowcharts for a case where the vehicle travels straight on the destination path of the target vehicle according to an embodiment.

FIG. 7 shows an embodiment of a path resetting method in the straight forward process

In step 710, if a straight forward travel at the next intersection is required on the destination route of the target vehicle, it is guided to the driver of the target vehicle.

In step 720, it is determined whether or not the current driving lane of the target vehicle is the guided straight ahead possible lane.

As a result of the determination, if the current driving lane corresponds to a lane capable of going straight, the driving route resetting device skips the lane change guidance process 730 and maintains the lane in which the target vehicle can go straight ahead until passing the intersection, Operation and vehicle movement status is continuously monitored (740).

However, if it is determined that the driving lane is not a lane capable of going straight ahead as a result of the determination, the driver is guided to the lane on which the straight ahead route shown on the expected route is possible (730) (740) whether the vehicle has been properly changed to the guided vehicle.

In step 740, the monitoring may be performed in a process that is separate from subsequent processes.

As a result of the monitoring of the traveling path reestablishment apparatus, if there is a change to the target vehicle, it is determined whether additional movement is required to enter the lane allowing the straight ahead, and whether the changed lane corresponds to the left or right lane ).

If the driving route resetting device determines that the driver has entered the guided vehicle, the controller monitors the driver operation to keep the current driving route.

However, if it is determined that the target vehicle has not successfully entered the guided lane, the following process proceeds.

In this case, if the current vehicle does not enter the guided lane and the current lane is not a lane capable of traveling straight ahead along the predicted path, it is determined in step 760 whether the target vehicle has reached the intersection based on the speed of the target vehicle, The estimated arrival time is calculated. The estimated arrival time to the intersection can be calculated using the distance remaining to the intersection and the average speed for a predetermined time until arriving at the current position.

In step 770, it is determined whether the target vehicle can be moved to the guide lane by referring to the calculated estimated arrival time. If it is time to move to the guided lane until the calculated estimated arrival time, the car is informed of the change again (730).

 If not, route re-search is performed based on the currently located driving lane. The time available for moving to the guided lane can be calculated using the average lane change time of the driver.

If it is determined in step 780 that the route search is necessary, it is determined whether the target vehicle is currently located in the left turn lane (or the right turn lane).

As a result of the determination, if the target vehicle is presently in the left turn lane (or the right turn lane), the route search is performed at the anticipated intersection left turn lane (or right turn lane) as a starting point to guide a new route (790).

The traveling route searching method of FIG. 7 is only an embodiment, and can be performed in various ways according to a result of monitoring the moving state of the vehicle according to the driver's operation of the target vehicle.

FIG. 8 is a flowchart illustrating a detailed operation of the driver operation monitoring process 740 shown in FIG. 7, according to an embodiment of a method of monitoring the straight running progress of the target vehicle.

In the driver operation monitoring process 740 of the travel path resetting device, the driver operation state of the target vehicle is continuously monitored to determine whether or not the route is searched. When the motion of the target vehicle is detected, do.

In step 810, information such as the speed of the target vehicle, the steering angle, the operation of the turn signal light, the lateral acceleration, the angle between the lane and the vehicle is obtained with reference to the in-vehicle network information related to the target vehicle. The driver determines whether there is a move to change the vehicle.

As a result of the determination, when the driver's operation is detected, a lane and a position expected to be driven by the target vehicle are calculated (820).

(830) whether the target vehicle can be properly positioned in the straight lane in a situation where the target vehicle needs to go straight ahead to proceed to the expected route to the destination. As a result of the prediction, if the target vehicle is expected to be located in the straight lane, it follows the process of FIG. 7 without further rediscovery (831).

However, if the subject vehicle is expected to be located in a different lane than the straight lane (840), a route rediscovery is needed.

If the target vehicle is expected to be located in a left-turning lane (or a right-turning lane), a route re-search is performed to the starting point as a left-turn lane of the expected intersection ).

The driver's operation monitoring process of FIG. 8 continues until the target vehicle has completely passed the intersection, and even if the path has already been guided as a result of FIG. 7, the re-search may be performed reflecting the driver's operation state of the target vehicle.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the apparatus and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA) A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

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. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (1)

A driving lane recognizing unit which receives driving information from at least one of a camera attached to a target vehicle and a plurality of sensors and recognizes a current driving lane of the target vehicle; And
Based on the recognized current driving lane, a route guidance unit for providing a predicted route to the destination of the target vehicle and lane information to be driven,
/ RTI >
Wherein the route guidance unit continuously monitors the moving state of the target vehicle and recognizes the current driving lane of the target vehicle again when it is determined that the estimated route can not proceed, thereby searching for a route again.

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