KR20160140055A

KR20160140055A - Automotive navigation apparatus and method for providing dynamic map therof

Info

Publication number: KR20160140055A
Application number: KR1020150076154A
Authority: KR
Inventors: 노동규; 류초롱; 황대성; 박종록; 노학렬; 성수련
Original assignee: 현대자동차주식회사
Priority date: 2015-05-29
Filing date: 2015-05-29
Publication date: 2016-12-07

Abstract

The present invention relates to a navigation device, and a method for providing a dynamic map of the same. The navigation device comprises: a wireless communication unit performing wireless communication with a peripheral vehicle and an infrastructure positioned near a vehicle; a saving unit saving general map data, high precision map data, and regional dynamic map data; a control unit enabling peripheral vehicle information and infrastructure information collected through the wireless communication unit in real-time when the vehicle accesses an intersection to be combined with the general map data, the high precision map data, and the regional dynamic map data to output a detailed map of the intersection; and a display unit displaying the detailed map of the intersection in accordance with control of the control unit.

Description

&Lt; Desc / Clms Page number 1 > APPARATUS AND METHOD FOR PROVIDING DYNAMIC MAP THEROF,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a navigation apparatus and a dynamic map providing method thereof, and more particularly to a navigation apparatus and a navigation apparatus for providing dynamic data collected in real- And a dynamic map providing method.

A general navigation system receives a navigation message transmitted by a Global Positioning System (GPS) satellite with a GPS receiver, and detects the running state of the vehicle using sensors such as a gyro sensor and a speed sensor mounted in the vehicle. The current position of the vehicle being driven is judged using the calculated current position, and the determined current position is matched with the map data and displayed together with the map on the display screen.

Such a navigation system receives traffic situation information provided by a traffic information providing server and provides route guidance to a destination in consideration of the traffic situation information. However, the conventional navigation system can not provide information about the vehicle flow and environment around the car.

KR 1020090069671 A

SUMMARY OF THE INVENTION The present invention is conceived to solve the problems of the prior art described above, and it is an object of the present invention to provide a navigation apparatus and a dynamic map thereof, which combine dynamic data collected in real time via radio vehicle communication with a local dynamic map (LDM) And to provide a method of providing such information.

In addition, the present invention provides a navigation device that provides an intersection detailed map including information such as a vehicle flow and an environment around a car when approaching an intersection, and a dynamic map providing method thereof.

In order to solve the above problems, a navigation apparatus according to the present invention includes a wireless communication unit for performing wireless communication with a peripheral vehicle and an infrastructure located around the vehicle, general map data, high-precision map data, and local dynamic map data And a control unit for combining the vehicle information and the infrastructure information collected in real time through the wireless communication unit when the vehicle is approaching an intersection with the general map data, the high-precision map data, and the local dynamic map data to output an intersection detailed map And a display unit for displaying the intersection detailed map under the control of the control unit.

In addition, the wireless communication unit is implemented as a vehicle to everything (V2X) communication module.

The control unit may determine whether or not a dangerous situation occurs based on the neighboring vehicle information and the infrastructure information, and display the driving safety information according to the occurrence of the dangerous situation on the detailed map of the intersection.

The control unit may display an absolute position and a lane position of the surrounding vehicle based on the surrounding vehicle information by matching with the intersection detailed map.

The control unit may divide the screen of the display unit into two or more areas and display the intersection detailed map on any one of the divided areas.

Meanwhile, a dynamic map providing method of a navigation device according to the present invention includes collecting peripheral vehicle information and infrastructure information from peripheral vehicles and infrastructures located around a vehicle through radio vehicle communication, combining the peripheral vehicle information and the infrastructure information And displaying the intersection detailed map by enlarging the vicinity of the intersection on the dynamic map data when approaching the self intersection intersection.

The peripheral vehicle information and infrastructure information collection step may include receiving the peripheral vehicle information through vehicle-to-vehicle (V2V) communication, and receiving the infrastructure information through vehicle-to-infrastructure (V2I) communication .

The dynamic map data display step may include generating driving stability information based on the neighboring vehicle information and the infrastructure information, and displaying the driving stability information on the intersection detailed map.

The dynamic map data display step may include generating driving support information based on the infrastructure information, and displaying the driving support information on the intersection detailed map.

In addition, the intersection detailed map display step displays the neighboring vehicle information and the vehicle information located around the intersection through map matching.

The present invention combines dynamic data collected in real time through wireless vehicle communication with a local dynamic map to improve driver convenience.

In addition, the present invention can improve the driver's convenience by providing an intersection detailed map that includes information such as the vehicle flow and environment around the car when approaching the intersection.

1 is a block diagram of a navigation device according to an embodiment of the present invention;
FIG. 2 illustrates a software architecture supporting the operation of the controller shown in FIG. 1; FIG.
3A and 3B illustrate an intersection detailed map according to an embodiment of the present invention.
4 is a flowchart illustrating a method of providing a dynamic map of a navigation device according to an embodiment of the present invention.
FIGS. 5A and 5B are views showing driving alarm information of the navigation device according to the present invention. FIG.
6 is an example of display of travel support information of the navigation device according to the present invention.
7A and 7B illustrate another example of displaying travel support information of the navigation device according to the present invention.

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

The present invention provides a local dynamic map (LDM) by combining real-time dynamic information (data) acquired through a vehicle to everything (V2X) and high-precision map information.

Here, the wireless vehicle communication V2X includes Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I).

In addition, the local dynamic map (LDM) is composed of data divided into four layers according to the ISO standard as shown in [Table 1].

division Data type Explanation 4th layer Dynamic data Cars, vehicles, trailers, undefined objects 3 tier Low-speed dynamic data Dynamic Accident Area, Dynamic Sensor Property, Dynamic Reference Road Property, Dynamic Road Element Property, Dynamic Traffic Sign, Weather Detection, Traffic Event 2 layer Non-standard static map data Local landmark, intersection signal group, detection area, lane landmark, crossing, sensor, intersection, road element, traffic signal, traffic sign 1 layer Standard static map data Road element, intersection

1 shows a block diagram of a navigation device according to an embodiment of the present invention.

1, the navigation device includes a wireless communication unit 110, a GPS (Global Positioning System) receiving unit 120, a user input unit 130, a display unit 140, an acoustic output unit 150, a storage unit 160 ), And a control unit 170.

The wireless communication unit 110 performs wireless communication with an surrounding vehicle (RV) and / or infrastructure located around a host vehicle (HV) through an antenna (not shown). In other words, the wireless communication unit 110 is implemented as a V2X communication module.

The wireless communication unit 110 collects surrounding vehicle information including the location and status information of the nearby vehicle through a Basic Safety Message (BSM), which is a V2V communication standard message. The safety message includes information such as GPS coordinates, GPS heading, vehicle speed, yaw rate, vehicle information (type, size, etc.), status information (emergency braking, accident, etc.).

The wireless communication unit 110 collects infrastructure information (environment information) around the vehicle HV through a message such as SPaT (Signal Phase and Timing) or RSA (Road Side Alert), which is a V2I communication standard message. Here, the infrastructure information includes information such as signals, accidents, and construction.

The SPaT message includes signal light information (signal information) such as a signal type (e.g., a left turn signal, a straight line signal, a stop signal, etc.), a remaining time, And so on.

The GPS receiving unit 120 receives the navigation message transmitted from the GPS satellite through the antenna. The navigation message is used to locate the car.

The user input unit 130 generates a control command and input data according to a user's operation. The user input unit 130 may be implemented as an input device such as a keyboard, a button, a jog stick, a jog dial, a touch pad, or a touch screen.

The display unit 140 displays a dynamic map and a traveling route according to the operation of the navigation device. The display unit 140 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, a transparent display, a head-up display (HUD), and a touch screen.

The sound output unit 150 outputs auditory information such as a guidance voice signal and a warning sound to the outside.

The storage unit 160 may store a program (software) for controlling the operation of the navigation device, and temporarily store input / output data of the navigation device.

The storage unit 160 stores a map DB 161 in which general map data is stored, a high-precision map DB 163 in which high-precision map data is stored, a local dynamic map (LDM) DB 165 in which non- ).

The high-precision map DB 163 and the LDM DB 165 are information that is not built in the map DB 161, and the configuration details are shown in [Table 2]. The high-accuracy map DB 163 and the LDM DB 165 extract a feature point from an image acquired through a camera based on map construction information, extract object information from the extracted feature point, and construct a map DB Lt; / RTI >

division Contents Details High precision map
Build (send) item Vehicle's current location information (M) Link road information Car player, speed limit, tunnel, bridge, link type New path start information Branch, entry, entry information Path Attribute - Interval Curvature, gradient, safe operating section information Path Attribute - Branch About cameras, facilities, and safety services Other setting information Country, map, version information LDM
Build (send) item Road mark Inside intersection (area) Stop line Stop line position information within the intersection (constant section) crosswalk Inside intersection (section) Crosswalk location information

The storage unit 160 may be a flash memory type, a hard disk type, a multimedia card micro type, a random access memory (RAM), a static random access A storage medium such as a read only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), and a secure digital card (SD) card.

The control unit 170 confirms the current position of the vehicle (the vehicle) using the coordinate information included in the navigation message received through the GPS receiver 120.

The control unit 170 is connected to the wireless communication unit 110 through an In Vehicle Network (IVN). Here, the in-vehicle network is implemented by a CAN (Controller Area Network) or the like.

The controller 170 collects dynamic data through the wireless communication unit 110 in real time. Here, the dynamic data includes surrounding vehicle information and infrastructure information. The control unit 170 generates driving safety information, driving support information, and intersection detailed information based on the dynamic data.

The control unit 170 generates the running stability information as a result of the calculation of the safety application that computes whether or not the vehicle is running. Here, the safety application determines whether a sudden braking alarm situation, a front collision alarm situation, or the like occurs based on the dynamic data collected through the wireless communication unit 110.

The control unit 170 generates driving support information including road conditions, road traffic conditions, weather, and signal information based on the infrastructure information received through the wireless communication unit 110. [

The control unit 170 displays the intersection detailed information including the location where the vehicle and the surrounding vehicle are located and the lane on the intersection detailed map using the surrounding vehicle information information and the vehicle information collected through the wireless communication unit 110.

The HVPOS includes absolute position, lane position, heading, vehicle type, and the like. The RVPOS includes absolute position, heading (same or opposite), vehicle type, (Right, left, front, rear, etc.) of the vehicle HV reference peripheral vehicle RV.

The control unit 170 outputs the driving safety information, the driving support information, and the intersection detailed information in a form recognizable by the user. When the driving safety information is output, the control unit 170 outputs a mark, a beep, a text to speech (TTS), etc. corresponding to the driving safety information.

The controller 170 displays an icon corresponding to the information type of the driving support information at the determined absolute position. Here, the absolute position has a resolution of 1/100 second from 0x0000000 to 0xFFFFFFD (Phy = HEX-0x7FFFFFF). At this time, the control unit 170 may output a warning sound together.

The control unit 170 enlarges the intersection detailed map (detailed information) and displays it on the display unit 140 when the vehicle HV approaches the intersection. At this time, the control unit 170 displays the surrounding vehicle information and the surrounding environment information (infrastructure information). The surrounding vehicle information includes the location of the vehicle, the car where the vehicle is located, the type of the vehicle, the information of the residence, etc., and the surrounding information includes signal information, information of the residence collected through the infrastructure, weather, traffic sign information ) And the like.

The controller 170 displays an intersection detailed map stored in the LDM DB 165 when approaching within a critical distance based on the intersection. At this time, the control unit 170 displays the surrounding vehicle information and the surrounding environment information on the intersection detailed map. The controller 170 displays the warehouse information and the signal information at positions corresponding to the intersection detailed map. Further, the control unit 170 displays the signal information together with the remaining time.

The controller 170 updates and displays the intersection detailed map at predetermined time intervals. The control unit 170 cancels the intersection detailed map display automatically when the user releases a command or passes through the intersection.

The control unit 170 displays the vehicle to be recognized by the user when there is an accident danger vehicle around the intersection. For example, the color of the vehicle is displayed differently.

In addition, the controller 170 may display the color differently according to the risk of an accident. For example, you can display blue for stage 1 and red for stage 2.

The control unit 170 may adjust the enlargement ratio or reduction ratio of the intersection detailed map according to the user's input.

2 is a diagram illustrating a software structure supporting the operation of the control unit shown in FIG.

The software (program) supporting the operation of the controller 170 includes a container 210, a display module 220, an engine module 230, and the like.

The container 210 constitutes a screen of the navigation device.

The display module 220 displays the screen configured by the container 210 on the display unit 140. The display module 220 also divides the screen or displays a pop-up window.

The engine module 230 includes an outgoing message generation module 231 for generating an outgoing message including positional information and status information of a vehicle, a search engine (IS) 232 for searching for a destination and a specific point, A route search engine (Routing Planning (RP) 233 for searching for a route from the current position to a destination of the vehicle, a Route Guidance (RP) 234 for guiding the searched route, A Map Matching (MM) 235 for matching the infrastructure information to the map data, a data access library (DAL) 236, a high-precision DAL 237, an LDM DAL 238, And a traffic information 239. [ The DAL 236, the high-precision DAL 237 and the LDM DAL 238 read data stored in the map DB 161, the high-precision map DB 163, and the LDM DB 165, respectively, 161, 163, and 165, respectively.

The mTTP conversion module 240 decodes the received traffic information based on the traffic information reception protocol (TTP) for display in conjunction with the map data, and transmits the decoded traffic information to the traffic information processing module 239.

FIGS. 3A and 3B illustrate an example of displaying an intersection detailed map according to an embodiment of the present invention.

The control unit 170 can receive and display the information on the surrounding vehicles and the infrastructure information through the wireless communication unit 110 when the vehicle HV approaches the intersection. At this time, when the vehicle approaches the intersection, the controller 170 displays the intersection detailed map in a pop-up form, or divides the screen into two or more areas as shown in FIG. 3A and displays the divided map in one of the divided areas.

The control unit 170 displays the position, lane information, vehicle type, and moving state of each vehicle located around the vehicle HV on the intersection detailed map as shown in FIGS. 3A and 3B.

In addition, the control unit 170 displays traffic light information, traffic sign information, and the like. For example, the control unit 170 displays signal information (such as a straight signal and a left turn signal) and a signal remaining time (e.g., 0: 09) as shown in FIG. 3A.

As shown in FIG. 3B, the control unit 170 provides an operation menu (+/-) for adjusting the reduction ratio and the enlargement ratio of the intersection detailed map.

4 is a flowchart illustrating a dynamic map providing method of a navigation device according to an embodiment of the present invention.

As shown in FIG. 4, the controller 170 receives the dynamic data around the vehicle in real time through the wireless communication unit 110 (S110). Here, the dynamic data is information transmitted from peripheral vehicles and infrastructures located in the periphery of the vehicle, and includes surrounding vehicle information and infrastructure information.

The control unit 170 integrates (combines) the dynamic data received through the wireless communication unit 110 into a local dynamic map and displays it on the display unit 140 (S120). That is, the controller 170 displays dynamic map data based on the surrounding vehicle information and the infrastructure information. The dynamic map data includes general map data (one layer), high-precision map data (one layer), local dynamic map data (two layers), peripheral vehicle information (four layers), and infrastructure information (three layers).

The control unit 170 confirms whether the vehicle is approaching the intersection (S130). The control unit 170 confirms the current position of the vehicle using the navigation message received through the GPS receiver 120. [ Then, the controller 170 checks whether the vehicle has reached a predetermined distance (for example, 100 meters) from the intersection through the matching of the confirmed current position and the local dynamic map data.

The control unit 170 displays an intersection detailed map when the vehicle approaches the intersection (S140). At this time, the control unit 170 displays the intersection detailed information by matching with the map data.

5A and 5B show an example of display of running alert information of the navigation device according to the present invention.

As shown in FIG. 5A, the control unit 170 displays driving alert information when there is a risk of collision with another vehicle when approaching an intersection. The control unit 170 controls the control unit 170 based on the dynamic data acquired through the wireless communication unit 110 such as a forward collision alarm (FCW) situation, a blind zone alarm (BSW) situation, a rapid curve alarm condition, a pedestrian alarm condition, Determines whether or not a situation has occurred, and displays a situation warning image as shown in FIG. 5B. At this time, if the controller 170 is an intersection detailed map display, the controller 170 may release the intersection detailed map display and display the driving alarm image.

6 shows an example of displaying driving support information of the navigation device according to the present invention.

When the controller 170 of the navigation device receives the information about the neighboring vehicle through the wireless communication unit 110, the controller 170 displays an icon P informing the information reception as shown in FIG. Thereafter, when the corresponding icon P is selected by the user, the controller 170 displays the driving support information received after the screen division on the split screen P.

7A and 7B show another example of displaying travel support information of the navigation device according to the present invention.

7A, the control unit 170 may display the received information so that the information type can be identified at a corresponding position on the map, or may display the received information list as shown in FIG. 7B, (A) can be displayed.

When the user selects any one of the reception information in the state of displaying the reception information, the detail information (B) of the information is displayed in a pop-up form.

110:
120: GPS receiver
130: user input section
140:
150:
160:
161: Map DB
163: High precision map DB
165: LDM DB
170:

Claims

A wireless communication unit for performing wireless communication with peripheral vehicles and infrastructures located around the vehicle,
A storage unit for storing general map data, high-precision map data, and local dynamic map data,
A control unit for combining the neighboring vehicle information and the infrastructure information collected in real time via the wireless communication unit with the general map data, the high-precision map data, and the local dynamic map data when the vehicle approaches the intersection,
And a display unit for displaying the intersection detailed map under the control of the control unit.

The method according to claim 1,
The wireless communication unit includes:
V2X (vehicle to everything) communication module.

The method according to claim 1,
Wherein,
Determines whether or not a dangerous situation has occurred based on the surrounding vehicle information and the infrastructure information, and displays the driving safety information according to the dangerous situation on the detailed map of the intersection.

The method according to claim 1,
Wherein,
And displays the absolute position and the lane position of the surrounding vehicle on the detailed map of the intersection on the basis of the peripheral vehicle information.

5. The method of claim 4,
Wherein,
Wherein the screen of the display section is divided into two or more areas and the intersection detailed map is displayed in any one of the divided areas.

Collecting peripheral vehicle information and infrastructure information from nearby vehicles and infrastructure located around the vehicle through wireless vehicle communication;
Displaying dynamic map data combined with neighboring vehicle information and infrastructure information;
And displaying the intersection detailed map by enlarging the vicinity of the intersection on the dynamic map data when the vehicle is approaching the intersection.

The method according to claim 6,
The peripheral vehicle information and infrastructure information collection step may include:
Receiving the peripheral vehicle information via the vehicle-to-vehicle (V2V) communication;
And receiving the infrastructure information through vehicle-to-infrastructure (V2I) communication.

The method according to claim 6,
The dynamic map data display step includes:
Generating driving stability information based on the neighboring vehicle information and the infrastructure information;
And displaying the driving stability information on the detailed map of the intersection.

The method according to claim 6,
The dynamic map data display step includes:
Generating driving support information based on the infrastructure information;
And displaying the driving support information on the detailed map of the intersection.

The method according to claim 6,
The intersection detailed map display step may include:
And displaying the neighboring vehicle information and the vehicle information located around the intersection through map matching.