KR20170030030A - Curve guidance method, curve guidance apparatus, electronic apparatus and program stored in the computer-readable recording meduim - Google Patents

Abstract

Disclosed is a curve guidance method. The curve guidance method comprises: a step of obtaining link information corresponding to a road where a vehicle travels; a step of determining a position of the vehicle in a link at a future timing based on the obtained link information; and a step of determining a risk of a curved section where the vehicle will travel after a predetermined time is elapsed using the vehicle speed at reference timing and a predetermined position.

Description

CURVE GUIDANCE METHOD, CURVE GUIDANCE APPARATUS, ELECTRONIC APPARATUS AND PROGRAM STORED IN THE COMPUTER READABLE RECORDING MEDUIM BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a curve guide method,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a curve guiding method, a curve guiding apparatus, an electronic apparatus, and a program stored in a computer-readable recording medium, and more particularly to a curve guiding method for guiding the risk of a curve section in real time , A curve guiding device, an electronic device, and a program stored in a computer-readable recording medium.

Traffic congestion is increasing as the number of vehicles such as automobiles is constantly increasing. The rate of increase of such vehicles is very fast compared with the speed of expansion of infrastructure such as roads, which causes serious problems such as traffic congestion have.

In this situation, the navigation device is one of the solutions for traffic congestion. The navigation device receives a navigation message transmitted by a GPS (Global Positioning System) satellite, judges the current position of the moving object, matches the current position of the moving object with the map data and displays it on the screen, Of the vehicle. In addition, the navigation device guides the user to travel the moving object along the travel route, thereby allowing the user to efficiently use the given road network.

In addition, recently, navigation systems using an Advanced Driver Assistance System (ADAS) function are being launched. Here, ADAS is a function for assisting the driving of the driver, and may include, for example, a lane departure alarm, a forward vehicle departure notification, a curve guide, a front vehicle collision notification, and the like.

The curve guide is a function of notifying the driver in advance of the curve encountered while the vehicle is running. In order to provide such curve guidance, conventionally, a curve section is selected by a preliminary investigation, and the selected curve section is added to the map data of the map DB to guide the curve section when passing through the corresponding point.

However, in the case of the preliminary survey method, it was difficult to appropriately cope with the road situation due to the limitation that all regions could not be examined in advance, and there was a possibility to provide false information.

Further, in the case of the conventional curve guidance, only the presence or absence of the curve section is shown, and since the danger level in the curve section corresponding to the current speed of the vehicle is not guided, the risk of an accident in the curve section is increased or unnecessary curve guidance is performed There was a problem.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned needs, and an object of the present invention is to provide a vehicle speed control system and a vehicle speed control method for controlling a speed of a vehicle, An adaptive curve guiding method, a curve guiding device, a navigation device, and a program stored in a computer-readable recording medium.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an adaptive curve guide for performing safe traveling speed guidance in a curve section through a traveling speed of a vehicle and an estimated centrifugal force calculated at a point where a future vehicle is to be located, A method, an apparatus, and a program stored in a computer-readable recording medium.

According to another aspect of the present invention, there is provided a curve guiding method comprising the steps of: acquiring link information corresponding to a road on which a vehicle travels; determining, based on the obtained link information, Determining a risk of a curve section in which the vehicle will travel after a predetermined time using the determined position and the vehicle speed at a reference time point which is the current position of the vehicle.

The determining step may determine a position in the link of the vehicle at each of a plurality of future viewpoints, and the determining may include determining a position of the vehicle at the link point in the curve section using the determined plurality of positions and the vehicle speed at the reference point The centrifugal force acting on the vehicle can be calculated and the risk of the curve section can be determined based on the calculated centrifugal force.

The determining may include determining a first position corresponding to a position of the vehicle on the link at a first time point after the first time from a reference time point, Determining a second position corresponding to a position of the vehicle on the link and determining a third position corresponding to a position of a point on the link located farthest from a line segment connecting the first position and the second position; .

Determining a first position corresponding to a position of the vehicle on the link at a first time point after the first time from a reference time point, determining a first position corresponding to the position of the vehicle on the link at a second time point after the reference time point, Determining a second position corresponding to a position of the vehicle and determining a third position corresponding to a position of at least one point on the link positioned between the first position and the second position .

In addition, the determining step may include generating a circumscribed circle including the first position, the second position, and the third position.

And calculating the centrifugal force for the circumscribed circle using the radius of the generated circumscribed circle and the vehicle speed at the reference point.

The determining may further include comparing the calculated centrifugal force with a preset threshold value to determine a risk of the curve section to be driven by the vehicle.

The predetermined threshold value may include a first threshold value serving as a criterion for determining the first risk level and a second threshold value serving as a criterion for determining a second risk level higher than the first risk level .

Providing a first curve section guidance indicating that the risk level of the curve section to be driven by the vehicle is a first critical level when the calculated centrifugal force is greater than a first threshold value and smaller than a second threshold value, If the centrifugal force is greater than the second threshold value, providing a second curve section guidance indicating that the risk of the curve section to be driven by the vehicle is a second critical level.

The acquiring step acquires link information and link attribute information corresponding to the road on which the vehicle travels from the map data, and the link attribute information includes an identifier of the road, a starting point of the vehicle traveling direction reference link, A road number, a road name, a road length, road class information, road width information, road lane number information, and road gradient information.

Calculating a weight for adjusting the first threshold value and the second threshold value based on the link attribute information, and adjusting the first threshold value and the second threshold value based on the calculated weight value The method comprising the steps of:

The weight may be varied according to the link attribute information.

According to another aspect of the present invention, there is provided a curve guide apparatus including a link information obtaining unit that obtains link information corresponding to a road on which a vehicle travels, a speed sensing unit that senses the speed of the vehicle, A link position determination unit for determining a position of the vehicle on the link at a future time point from a reference time point based on the obtained link information, and a link position determination unit for determining, based on the determined position and the vehicle speed at a reference time point, And a controller for determining a risk of a curve section in which the vehicle will travel after a predetermined time.

The link position determining unit determines the position of each of the plurality of future viewpoints on the link of the vehicle, and the control unit determines the position of the vehicle on the curve section using the determined plurality of positions and the vehicle speed of the reference point, And a risk judging unit for judging a risk of the curve section on the basis of the calculated centrifugal force.

The link position determining unit may include a first link position determining unit for determining a first position corresponding to a position of the vehicle on the link at a first time point after the first time from the reference time point, A second link position determining unit that determines a second position corresponding to a position of the vehicle on the link at a second point in time after the first position and a second position corresponding to the position of the link located farthest from a line segment connecting the first position and the second position; And a third link position determination unit for determining a third position corresponding to the position of the point.

The link position determining unit may include a first link position determining unit for determining a first position corresponding to a position of the vehicle on the link at a first time point after the first time from the reference time point, A second link position determining unit for determining a second position corresponding to a position of the vehicle at the link at a second point in time after the first position and a second position corresponding to a position of at least one point on the link positioned between the first position and the second position And a third link position determining unit that determines a third position corresponding to the position.

The control unit may include a circumscribed circle generator for generating a circumscribed circle including the first position, the second position, and the third position.

Further, the centrifugal force calculating unit may calculate the centrifugal force for the circumscribed circle by using the radius of the generated circumscribed circle and the vehicle speed at the reference point.

The risk determining unit may compare the calculated centrifugal force with a preset threshold value to determine a risk of the curve section to be driven by the vehicle.

The predetermined threshold value may include a first threshold value serving as a determination criterion of a first risk level and a second threshold value serving as a criterion of a second risk level having a higher risk level than the first risk level .

If the calculated centrifugal force is larger than the first threshold value and smaller than the second threshold value, the control unit generates a first curve section guide indicating that the risk of the curve section to be driven by the vehicle is a first danger level, And a guide information generating unit for generating a second curve section guide indicating that the risk level of the curve section to be driven by the vehicle is a second critical level when the calculated centrifugal force is greater than a second threshold value.

The link information obtaining unit obtains link information and link attribute information corresponding to the road on which the vehicle travels from the map data, and the link attribute information includes an identifier of the road, a starting point of the vehicle traveling direction reference link, A road number, a road name, a road length, road class information, road width information, road lane number information, and road gradient information.

The control unit calculates a weight for adjusting the first threshold value and the second threshold value based on the link attribute information, and based on the calculated weight value, the first threshold value and the second threshold value, And a weight calculation unit for adjusting the value of the weight.

The weight calculation unit may vary the weight according to the link attribute information.

The first positioning unit may determine the first position by shortening the first time when the vehicle enters the curve section.

According to another aspect of the present invention, there is provided an electronic device including an output unit for outputting information for guidance, a link information acquiring unit for acquiring link information corresponding to a road on which the vehicle travels, A link position determining unit for determining a position of the vehicle on the link and a risk of a curve section in which the vehicle will travel after a predetermined time using the vehicle speed at the determined position and reference time, And a control section for controlling the output section to output a curve section guidance corresponding to the curve section guidance.

The control unit may determine the risk of the curve section at a plurality of levels and control the output unit to output the first curve section guidance when the danger level of the curve section to be traveled by the vehicle is at a first danger level, The output section can be controlled to output the second curve section guidance when the risk level of the curve section to be driven by the vehicle is the second critical level.

Also, the output unit may include a display unit for displaying a screen, and the display unit may display the curve guide object on a predetermined area of the augmented reality screen.

According to another aspect of the present invention, there is provided a method of guiding a curve according to an exemplary embodiment of the present invention, comprising: measuring a current position and a current moving speed of an electronic device using a received GPS signal; Determining at least three points to be located at a future point in time according to the measured current traveling speed from a link corresponding to the road located at the determined position, calculating a radius of a circumscribed circle that passes through the location of the determined points, Calculating a centrifugal force in the case of moving the circumscribed circle phase using the radius and the measured current traveling velocity, comparing the calculated centrifugal force with a predetermined threshold value, and determining, based on the comparison result, A guide to the risk of moving the curved road located at the current moving speed A step of force.

The threshold value may vary according to link attribute information corresponding to the link information corresponding to the road on the front section.

The link attribute information may include at least one of an identifier of the road, a starting point and an ending point of the vehicle traveling direction reference link, a road number, a road name, a road length, road class information, road width information, Or the like.

The predetermined threshold value is a threshold value obtained by the experimental data. The threshold value is an experimental value for notifying the risk of the vehicle departing from the road of the curve section when the vehicle passes the curve section, and the first threshold value, And a second threshold value which is an experimental value for informing of a danger, and the outputting step displays a notice of caution if the centrifugal force is larger than the first threshold value and smaller than the second threshold value, And if so, displaying the warning notice.

According to another aspect of the present invention, there is provided a curve guide apparatus including a velocity sensing unit for measuring a current position and a current velocity of an electronic device using a received GPS signal, A link position determining unit for determining at least three points to be positioned in accordance with the measured current traveling speed from a link corresponding to a road located on a front section in the direction of a predetermined distance, and calculating a radius of a circumscribed circle passing through the determined positions Calculating a centrifugal force in the case of moving the circumscribed circle phase using the calculated radius and the measured current traveling velocity, comparing the calculated centrifugal force with a predetermined threshold value, A guide to the risk of moving the curve road located on the front section to the current traveling speed An output control unit for.

The threshold value may vary according to the link attribute information corresponding to the road on the front section.

The link attribute information may include at least one of an identifier of the road located on the front section, a starting point and an ending point of the vehicle traveling reference link, a road number, a road name, a road length, Number information, and road gradient information.

The predetermined threshold value is a threshold value obtained by the experimental data. The threshold value is an experimental value for notifying the risk of the vehicle departing from the road of the curve section when the vehicle passes the curve section, and the first threshold value, And a second threshold value, which is an experimental value for notifying a danger, and the control unit displays a warning notice if the centrifugal force is larger than the first threshold value and smaller than the second threshold value, If it is, you can display warning notice.

According to another aspect of the present invention, there is provided a curve guiding method including: acquiring link information of at least two links corresponding to a road on which a vehicle travels; Determining at least two future position points on links located in the traveling direction from the position of the vehicle currently in motion, and determining the risk of the curve section using the determined traveling speed information of the at least two points and the vehicle .

Determining a point on a link located farthest from a line segment connecting the at least two future position points, generating a circumscribed circle containing the determined points, and using the radius of the generated circumscribed circle and the traveling velocity information And calculating the risk of the curve section.

The calculating of the risk may further include calculating a centrifugal force of the curve section using the radius of the circumscribed circle and the traveling speed and comparing the calculated centrifugal force with a predetermined threshold value to calculate a risk degree for the curve section To the user.

Determining a third point that is a point on a link located furthest from a line segment connecting the at least two future position points, calculating an angle formed by a line segment connecting the determined third point and each of the at least two points And comparing the calculated angle with a preset threshold value to provide a degree of danger to the curve section to the user.

According to another aspect of the present invention, there is provided a computer readable recording medium storing a program for performing a curve guiding method.

According to various embodiments of the present invention, it is possible to determine, in real time, whether the road on which the vehicle will travel after a predetermined time is a curve section using existing link information. Thus, The curve guide can be performed without prior investigation of the curve.

In addition, when guidance of the risk for the curve section to be driven by the vehicle is performed after a predetermined time, the user is guided simultaneously considering the curvature of the curve section and the current driving speed of the vehicle, so that the user can cope more effectively in the curve section. For example, if the curvature of the curve section is large but the vehicle is currently traveling at a low speed and the probability of exposure to the danger in the curve section is low, the user is not disturbed by the unnecessary guidance by not guiding the risk, Safety can be improved.

In addition, according to various embodiments of the present invention described above, factors affecting the risk of a curve section sensed through a user's sensory organs, such as a road rank (e.g., (Eg, information on general road recognition), road width (eg, information on road width or narrowness or road width information), number of road lanes (eg, information on whether the number of road lanes is large or small, ), A road inclination (for example, whether the road is uphill or downhill or superelevation information) to control the guidance of the risk, thereby making it possible to more precisely guide the risk of the curve section.

In addition, according to various embodiments of the present invention, the risk of the curve section is divided into at least two or more steps, and the user is informed of the risk, so that the user can recognize the degree of danger according to the situation in the curve section in a stepwise manner, .

1 is a block diagram showing a curve guide apparatus according to an embodiment of the present invention.
2 is a block diagram showing a curve guiding apparatus according to an embodiment of the present invention in more detail.
3 is a block diagram specifically illustrating a control unit of a curve guiding apparatus according to another embodiment of the present invention.
4 is a flowchart illustrating a curve guiding method according to an embodiment of the present invention.
5 is a flowchart illustrating a centrifugal force calculation process for a vehicle according to an embodiment of the present invention.
6 is a view illustrating a process of calculating centrifugal force for a vehicle according to an embodiment of the present invention.
7 is a flowchart specifically illustrating a curve guiding method according to an embodiment of the present invention.
8 is a diagram illustrating a threshold adjustment method according to an embodiment of the present invention.
9 is a view illustrating a curve guiding method according to another embodiment of the present invention.
10 is a flowchart illustrating a curve guiding method according to another embodiment of the present invention.
11 is a diagram illustrating a curved link according to another embodiment of the present invention.
12 is a view for explaining an example of adjusting the first time according to whether or not the vehicle enters a curve.
13 is a block diagram illustrating a control unit according to another embodiment of the present invention.
14 is a diagram illustrating a curve direction determination method according to an embodiment of the present invention.
15 is a block diagram illustrating an electronic device according to an embodiment of the present invention.
16 is a diagram for explaining a system network connected to an electronic device according to an embodiment of the present invention.
17 is a diagram showing a curve guide screen of an electronic device according to an embodiment of the present invention.
18 is a flowchart showing a curve guiding method of an electronic device according to an embodiment of the present invention.
FIG. 19 is a diagram illustrating an embodiment in which a camera and an electronic device are separate types according to an embodiment of the present invention. FIG.
20 is a view showing an embodiment in which a camera and an electronic device according to an embodiment of the present invention are integrated.
FIG. 21 is a diagram illustrating an embodiment using an HUD (Head-Up Display) and an electronic device according to an embodiment of the present invention.

The following merely illustrates the principles of the invention. Thus, those skilled in the art will be able to devise various apparatuses which, although not explicitly described or shown herein, embody the principles of the invention and are included in the concept and scope of the invention. Furthermore, all of the conditional terms and embodiments listed herein are, in principle, only intended for the purpose of enabling understanding of the concepts of the present invention, and are not to be construed as limited to such specifically recited embodiments and conditions do.

It is also to be understood that the detailed description, as well as the principles, aspects and embodiments of the invention, as well as specific embodiments thereof, are intended to cover structural and functional equivalents thereof. It is also to be understood that such equivalents include all elements contemplated to perform the same function irrespective of the currently known equivalents as well as the equivalents to be developed in the future, i.e., the structure.

Thus, for example, it should be understood that the block diagrams herein represent conceptual views of exemplary circuits embodying the principles of the invention. Similarly, all flowcharts, state transition diagrams, pseudo code, and the like are representative of various processes that may be substantially represented on a computer-readable medium and executed by a computer or processor, whether or not the computer or processor is explicitly shown .

The functions of the various elements shown in the figures, including the functional blocks depicted in the processor or similar concept, may be provided by use of dedicated hardware as well as hardware capable of executing software in connection with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which may be shared.

Also, the explicit use of terms such as processor, control, or similar concepts should not be interpreted exclusively as hardware capable of running software, and may be used without limitation as a digital signal processor (DSP) (ROM), random access memory (RAM), and non-volatile memory. Other hardware may also be included.

In the claims hereof, the elements represented as means for performing the functions described in the detailed description include all types of software including, for example, a combination of circuit elements performing the function or firmware / microcode etc. , And is coupled with appropriate circuitry to execute the software to perform the function. It is to be understood that the invention defined by the appended claims is not to be construed as encompassing any means capable of providing such functionality, as the functions provided by the various listed means are combined and combined with the manner in which the claims require .

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, in which: There will be. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

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

1 is a block diagram showing a curve guide apparatus according to an embodiment of the present invention. 2 is a block diagram showing a curve guiding apparatus according to an embodiment of the present invention in more detail.

1 and 2, the curve guiding apparatus 10 includes all or a part of the link information obtaining unit 11, the speed detecting unit 12, the link position determining unit 13, and the control unit 14 . Here, the link position determining unit 13 determines whether all or a part of the first link position determining unit 13-1, the second link position determining unit 13-2, and the third link position determining unit 13-3 . The control section 14 may include all or a part of the circumscribed circle generating section 14-1, the centrifugal force calculating section 14-2, the weight calculating section 14-3 and the risk determining section 14-4 have.

The curve guide device 10 obtains the link information corresponding to the road on which the vehicle travels, determines the position on the link of the vehicle after a predetermined time from the reference time point, and determines the vehicle speed at the determined position and the reference point The risk of the curve section in which the vehicle will travel after a predetermined time can be determined. Here, the curve guiding apparatus 10 may be implemented using software, hardware, or a combination thereof. For example, in accordance with a hardware implementation, an application specific integrated circuit (ASIC), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) ), Controllers, micro-controllers, micro-processors, and other units for performing other functions.

The curve guide device 10 can perform curve determination using the link information corresponding to the road on which the vehicle travels.

For this purpose, the link information obtaining unit 11 can obtain link information corresponding to the road on which the vehicle travels. Specifically, the link information obtaining unit 11 obtains link information corresponding to the road on which the vehicle travels from the map data including a plurality of links for representing roads in a plurality of areas, and link property information for the link have.

The link information acquiring unit 11 acquires map data from the storage unit 110 of the electronic device 100 provided with the curve guide apparatus 10 or acquires map data from an external map database DB separate from the electronic device 100. [ To acquire map data via wired / wireless communication, or to acquire map data from other electronic devices. For example, the link information obtaining unit 11 may obtain map data from a map data provider through a mobile communication network such as LTE or a wireless communication network such as a wireless LAN.

The map data is data for displaying a map of the current location and the surrounding area, and may include link information for indicating roads in a plurality of areas included in the map data.

The link information includes at least one of a plurality of links information, link attribute information indicating an attribute value of each of the plurality of links, node information linking a link and a link, and attribute information about the node .

The link attribute information includes an identifier of the link, information indicating whether the link is a bidirectional link or a unidirectional link, a starting point and an ending point of the vehicle traveling direction reference link, a road number, a road name, The road speed information, the road lane number information, the road gradient information, the guide code information (e.g., the information indicating the speed limit, the stopping point, etc.) One can be included. In addition, the attribute information for the node may include direction attribute information.

Here, the bi-directional link may mean a link in which the left road and the right road are defined as one link with respect to both directions, that is, the center line of the road.

And the slope information of the road corresponding to the link may include a longitudinal slope indicating a downward or upward angle with respect to the length connected to the horizontal line of the road. Here, it is possible to determine whether the road corresponding to the link is an uphill road or a downhill road based on the terminal gradient information. In one embodiment, the terminal gradient information has a value of " + " if it is an ascending / descending road in the traveling direction of the vehicle, and a value " - "

The inclination information of the road corresponding to the link may include superelevation information (Cantilever Cant, Cant) indicating the inclination of the width connected on the horizontal line of the road. Here, the superelevation of the road corresponding to the link can be determined based on the superelevation information. That is, the superelevation information is information indicating how far the end of the outer lane in the curved portion of the road is designed to be higher than the inner lane. In one embodiment, the superelevation information has a value of " + " when the slope goes up from the center of the road toward the outer side of the roadway, and " - "

Attribute Description Link ID (Road ID) Identifier for identifying the link Link Direction Information Information indicating whether the link is bidirectional or unidirectional About link starting point Link start node identifier Link end point information Link end node identifier Road number Road number Road name Road name Road length Road length information Road Rank Information indicating the grade of the road (grade of highway, general road, etc.) Road Type Types of roads (types of roads, highways, underground roads, etc.) Road width information Road width information Road lane information Road car number Road slope information Road end grading information, road grading information About guide codes Limit Speed Interruption Zone, Operation Warning Zone, Accident Zone Zone Information

The speed sensing portion 12 can sense the speed of a moving object equipped with the curve guiding device 10, for example, a vehicle, a bicycle, a person, etc. (hereinafter, have.

The link position determination section 13 can determine the position of the vehicle on the link after a predetermined time from the reference time point. The link position determining unit 13 includes a first link position determining unit 13-1 for determining a first position corresponding to a position of a link of the vehicle at a first time point after a first time from a reference time point, A second link position determining section (13-2) for determining a second position corresponding to a position of the vehicle in the link at a second time point after the second time from the first position and a second position And a third link position determination unit (13-3) for determining a third position corresponding to the position of one point.

Here, the third link position determining section 13-3 can preferably determine the position of the point on the link located farthest from the line segment connecting the first position and the second position to the third position. However, the present invention is not limited thereto. According to an embodiment, the third link position determining section 13-3 can determine the position of the point on the link located between the first position and the second position as the third position.

In addition, according to the above-described example, only three link positions are determined in the front link at the current time point of the vehicle. However, the present invention is not limited to this, and a moving object may be located after a predetermined time from the current point of time And determine the risk for the curve section that the vehicle will travel after a predetermined time using the determined link positions.

Here, the reference time may be the current time, and the first time point and the second time point may be future time points after a predetermined time from the present time. And the second time point may be a future time point than the first time point. For example, the first time point may be a time point after 1 second from the reference time point, and the second time point may be a time point after 5 seconds from the reference time point.

The control unit 14 calculates the risk of the curve section to be driven by the vehicle after a predetermined time using the position determined by the link position determination unit 13 and the current vehicle speed at the reference point sensed by the speed sensing unit 12 It can be judged.

In this case, the control unit 14 calculates the estimated centrifugal force when the vehicle travels at the current traveling speed in the curve section, compares the calculated estimated centrifugal force with a predetermined threshold value, It is possible to judge the degree of risk of running on a curve road located on the front section.

To this end, the circumscribed circle generating section 14-1 may generate a circumscribed circle including a first position, a second position, and a third position. Then, the centrifugal force calculation unit 14-2 can calculate the centrifugal force for the circumscribed circle by using the radius of the generated circumscribed circle and the vehicle speed at the reference time point. Then, the risk judging unit 14-4 can judge the risk of the curve section in which the vehicle will travel after a predetermined time by comparing the calculated centrifugal force with a predetermined threshold value. Here, the predetermined threshold value is a threshold value obtained by the experimental data through the actual road running test. The first threshold level is a first criterion level (a state where there is a risk of getting out of the road of the curve section when passing the curve section) And a second threshold value that is a criterion for determining a second risk level (a risk of rollover of a vehicle passing the curve section) that is higher than the first risk level.

In addition, the control unit 14 may include a weight calculation unit 14-3. The weight calculation unit 14-3 calculates a weight for a threshold value based on at least one of road class information, road width information, road lane number information, and road gradient information among the obtained link information, and outputs the calculated weight The predetermined threshold can be adjusted based on the basis.

Hereinafter, two cases in which the weight calculation unit 14-3 changes the weight according to the link attribute information will be described.

<Case 1>

In Case 1, the weight calculation unit 14-3 can set the weight to "1" or "a value larger than 1" according to the link attribute information. For example, a &quot; value greater than one &quot; would be a value containing a fractional number greater than one, including &quot; 1.001 &quot;.

If the number of roads in the curve section is large, the risk perceived by the driver on the curve section will be smaller than when the number of road sections in the curve section is small. Therefore, when the number of lanes of the road obtained by the link information obtaining unit 11 in case 1 is a predetermined number of lanes (first order), the weight calculating unit 14-3 can calculate the weight as a value of '1' have. When the number of lanes of the road obtained by the link information acquiring unit 11 is larger than the preset number of lanes (first lane), the weight calculating unit 14-3 can calculate the weight as a value larger than '1'.

As another example, the weight calculation unit 14-3 may further consider a weight of 0.1 for every excess number of lanes whenever the lane number exceeds the first lane. If the number of lanes is a first order, the weight calculating section 14-3 calculates "1" as a weight, and if the first lane is more than the first lane, it is "1.1" 1.2 &quot; in the case of the fourth lane, and &quot; 1.3 &quot; in the case of the fourth lane.

As another example, if the road class to which the curve section belongs is a highway, the risk that the driver feels about the curve section will be smaller than that of the ordinary road. Therefore, when the road information in the link information obtaining unit 11 is a general road, the weight calculating unit 14-3 can calculate the weight as '1'. When the road class obtained by the link information obtaining unit 11 is a high-speed road, the weight calculating unit 14-3 can calculate the weight as a value larger than '1'.

As another example, when the road width of the curve section is wide, the danger that the driver feels about the curve section will be smaller than when the road section of the curve section is narrow. Therefore, when the width of the road obtained by the link information obtaining unit 11 is equal to a preset value, the weight calculating unit 14-3 can calculate the weight as '1'. If the width of the road obtained by the link information acquiring unit 11 is larger than a preset value, the weight calculating unit 14-3 can calculate the weight value to be larger than '1'.

As another example, if the curve section is on an uphill road, the risk perceived by the driver on the curve section will be smaller than when the curve section is on the downhill road. Therefore, when the road terminal slope obtained by the link information obtaining section 11 is an ascending road, the weight calculating section 14-3 can calculate the weight value to be larger than '1'. When the road end slope obtained by the link information obtaining unit 11 is a downhill road, the weight calculating unit 14-3 can calculate the weight value as a value smaller than '1'. If the obtained road terminal slope is flat, the weight calculation unit 14-3 may not calculate the weight or may calculate the weight as '1'.

As another example, when the superelevation of the curve section is large, the risk experienced by the driver on the curve section may be smaller than the curve section with the superelevation history. Therefore, when the superelevation angle of the road obtained by the link information obtaining section 11 is larger than a predetermined value, the weight calculating section 14-3 can calculate the weight value as a value larger than '1'. When the superelevation angle of the road obtained by the link information obtaining section 11 is smaller than a predetermined value, the weight calculating section 14-3 can calculate the weight as '1'.

If the superelevation of the road obtained by the link information obtaining unit 11 is equal to a predetermined value, the weight calculating unit 14-3 can calculate the weight as '1'. In addition, weights of both flat and downhill roads can be calculated as '1'.

<Case 2>

In the case 2, the weight calculation unit 14-3 may set the weight to "1" or a value smaller than "1" or "larger than 1" according to the link attribute information. For example, &quot; a value greater than 1 &quot; may be a value that includes a fractional number of digits exceeding 1 including &quot; 1.001 &quot;, and a value smaller than 1 may be a value smaller than & .

For example, when the number of roads of the curve section is large, the danger that the driver feels about the curve section is smaller than when the number of road sections of the curve section is small. Therefore, in Case 2, when the number of lanes of the road obtained by the link information obtaining unit 11 is smaller than the predetermined reference lane number (second lane), the weight calculating unit 14-3 sets the weight to a value smaller than '1' Can be calculated. If the number of lanes of the road obtained by the link information obtaining unit 11 is larger than the preset number of lanes, the weight calculating unit 14-3 may calculate the weight as a value larger than '1'. For example, when the number of lanes of the obtained link attribute information is one, the weight calculating section 14-3 calculates the weight as &quot; 0.9 &quot; since the number of lanes of the obtained link attribute information is smaller than the reference lane number, The weight is calculated as &quot; 1 &quot; in the case of the number (second lane), and since it exceeds the reference lane in the case of the third lane, the weight can be calculated as &quot; 1.1 &quot;. As another example, depending on whether the road width of the curve section is equal to or larger than or narrower than the reference road width (for example, 1.8 m) of the curve section, the weight calculation section 14-3 calculates the weight as "1" Or &quot; a value greater than one &quot;.

When the road width of the curve section included in the acquired link attribute information is wide, the risk experienced by the driver on the curve section is smaller than when the road width of the curve section is narrow. Therefore, the weight can be set to "1" or "a value smaller than 1" or "larger than 1" by comparing the width of the road obtained by the link information obtaining unit 11 with a predetermined value.

As another example, if the curve section is on an uphill road, the risk perceived by the driver on the curve section will be smaller than when the curve section is on the downhill road. Therefore, the weight calculation unit 14-3 compares the road end gradient information obtained by the link information acquisition unit 11 with the reference road end gradient information (e.g., 0 degree), and based on the comparison result, Can be set to a value less than 1 or a value greater than 1.

If the obtained road terminal slope information is 0 degrees, it is assumed that the road is a horizontal road. The weight calculation section 14-3 calculates the weight as &quot; 1 &quot; "1.1" when the value is greater than 0 and less than 5 degrees, and "1.2" when the value is greater than 5 degrees and less than 10 degrees.

On the other hand, if the obtained end slope information has a value of "-", the downhill road is added. If the obtained end slope information is "0 ° to -5 °", "0.9" Quot; 0.8 &quot; can be calculated as a weight value.

As described above, in the case of the road superelevation, the above-described weight calculation method can be similarly applied. That is, in accordance with the obtained superelevation information of the road, the weight calculation unit 14-3 compares the superelevation information with the reference road superelevation information (for example, 0 degree) and calculates the weight as "1" or " 1 &quot;.

In the two cases described above, the weight calculation unit 14-3 calculates the weight according to the acquired link attribute information, but the weight may vary depending on the weight of the vehicle. Since the centrifugal force increases proportionally with the weight of the vehicle, the driver of the vehicle having a light weight of the vehicle will have a relatively small risk of feeling a curve section as compared with the driver of the heavy vehicle. Therefore, the weight calculation unit 14-3 can set the weight to "1" or "a value smaller than 1" or "a value larger than 1" according to the weight of the vehicle.

For example, when the weight of the vehicle is 2 tons, the weight calculation unit 14-3 calculates the weight as &quot; 1 &quot;, decreases the weight by &quot; 0.1 &quot; By &quot; 0.1 &quot;.

On the other hand, according to the above-described example, the weight is calculated based on the road attribute information obtained by the link information obtaining unit 14-1, but the present invention is not limited to this. According to another embodiment of the present invention, the curve guiding apparatus 10 may include a sensor (not shown) for detecting at least one of road class information, road width information, road lane number information, and road inclination information. In this case, the weight calculation unit 14-3 can calculate the weight for the threshold value based on the road attribute information obtained through the link information acquisition unit 11 and / or the sensing value of the sensor (not shown) . In one example, the curve guide device 10 may have a sensor (not shown) for measuring the longitudinal tilt and the lateral tilt of the vehicle. In this case, the weight calculation unit 14-3 can calculate the weight for the threshold value based on the slope value of the tilt measurement sensor (not shown) without the road gradient information obtained through the link information acquisition unit 11 .

According to the present invention, it is possible to provide an element that can influence a risk of a curve section sensed by a user through a sensory organs, for example, a road grade (for example, whether the road is an expressway or an ordinary road) By more precisely guiding the risk of the curve section by adjusting the threshold value of the risk guidance by reflecting the number (eg, whether the number of roads is large or small) or the gradient of the road (eg whether the road is uphill or downhill) . In addition, factors affecting the risk of the curve section may be considered, such as the type of road surface (eg, asphalt pavement, concrete pavement, etc.).

 In addition, the weight calculation unit 14-3 may vary the weight according to information such as track tread, vehicle width, vehicle height, tire condition, road surface friction coefficient, and the like.

3 is a block diagram of the control unit 14 of the curve guiding apparatus 10 according to another embodiment of the present invention. 3, the circumscribed-circle generating unit 14-1 and the centrifugal force calculating unit 14-2 are the same as those shown in FIG. 2, and thus the description thereof will be omitted. In FIG. 3, the threshold value storage unit 14-5 may store two or more threshold values in advance. The threshold value stored in the threshold value storage unit 14-5 is a threshold value obtained by the experimental data through the actual road running test and is a threshold value for notifying the risk of departing from the road of the curve section when passing through the curve section. A second threshold value, which is an experimental value for notifying a danger of rollover of the vehicle passing through the curve section, is stored as a first threshold value, which is an experimental value. In another embodiment of the present invention, two threshold values have been described. However, it is also possible to preset and store three or more threshold values according to the user or manufacturer's selection.

Of course, it is also possible to set only one threshold value in advance and display information about the risk of the curve section depending on whether the threshold value is exceeded or not.

On the other hand, when the calculated centrifugal force is smaller than the first threshold value, the guide information generating unit 14-6 may not generate the curve section guidance because the curve section to be traveled by the vehicle is not dangerous.

When the calculated centrifugal force is larger than the first threshold value and smaller than the second threshold value, the guidance information generating section 14-6 generates a first curve section guide indicating that the risk level of the curve section to be driven by the vehicle is the first danger level Lt; / RTI &gt; Here, the first curve section guidance may be an attention guide for notifying the danger that the vehicle will be out of the curve section when passing through the curve section.

If the calculated centrifugal force is greater than the second threshold value, the second curve section guidance may be generated to indicate that the risk level of the curve section to be driven by the vehicle is the second critical level. Here, the second curve section guidance may be a warning guide for notifying the risk of rollover of the vehicle passing through the curve section.

Meanwhile, the control unit 14 may include a curve link generation unit 14-7 that generates a curved link corresponding to the link using a curve algorithm. Specifically, since the curved line and the links are formed in a straight line, when the link position is determined using the previously stored links as it is, or when the centrifugal force is calculated, data that does not reflect the actual moving characteristic of the vehicle is calculated And may not be able to perform accurate risk guidance. Thus, according to an embodiment of the present invention, after acquiring the link information through the link information acquiring unit 11, the curve link generating unit 14-7 generates a curve linking algorithm such as a Bezier curve algorithm May be used to generate a curved link corresponding to the acquired link. In this case, the link position determining unit 13 determines the position of the future point of view of the vehicle on the curved link, and the control unit 14 controls the position of the curved link using the position at the future point determined on the curved link and the vehicle speed at the reference point It is possible to more accurately guide the risk of the curve section by judging the risk of the curve section in which the vehicle will run.

The operation of the curve guiding apparatus 10 of FIGS. 1 and 2 will be described in more detail with reference to FIGS. 4 to 8. FIG. In the present invention, the curve guiding apparatus 10 may provide the user with a safe speed guidance not only to determine the risk of the curve section located in front of the moving body but also to drive the curve section located in front of the moving body.

4 is a flowchart illustrating a curve guiding method according to an embodiment of the present invention. Referring to FIG. 4, the curve guide apparatus 10 may obtain link information corresponding to a road on which the vehicle is traveling (S101). Specifically, the link information obtaining unit 11 can obtain link information corresponding to a road on which the vehicle travels from map data composed of a plurality of links for indicating roads in a plurality of areas.

Here, the link information may include attribute information for each of a plurality of links and each of the plurality of links, node information for linking a link and a link, attribute information for the node, and the like.

Then, the curve guide apparatus 10 can determine the position of the vehicle on the link at a future time point (S102). This will be described in detail with reference to FIGS. 5 to 6. FIG.

The curve guide device 10 calculates the risk of the curve section to be driven by the vehicle after a predetermined time when the vehicle travels at the current speed, using the position at the determined future time point and the vehicle speed at the reference time point, (S103). This will be described in detail with reference to FIG.

5 is a flowchart illustrating a centrifugal force calculation process for a vehicle according to an embodiment of the present invention. 6 is a view illustrating a process of calculating centrifugal force for a vehicle according to an embodiment of the present invention. Referring to FIGS. 5 to 6, the link information obtaining unit 11 may obtain link information corresponding to the road on which the vehicle is traveling (S201). 6, the link information obtaining unit 11 includes a plurality of links 201, 202, 203 and 204, nodes 211, 212, 213 and 214 connecting the plurality of links 201, 202, 203 and 204, And link information including at least one of information and node attribute information.

One link includes a link start node indicating the start point of the link and a link end node indicating the end point of the link.

When a vehicle not shown in FIG. 6 moves on link 201 -> link 202 -> link 203 -> link 204, reference numeral 211 is the start node of reference numeral 202 link, reference numeral 212 denotes the end Node.

Then, the link position determination unit 13 can use the GPS signal to determine the current position 221 of the vehicle in which the electronic device or the electronic device is installed.

The first link position determination unit 13-1 determines the position of the vehicle on the links 201, 202, 203, and 204 of the vehicle from the reference time point 221, which is the current position of the vehicle, The position 222 can be determined (S202).

The second link position determination unit 13-2 determines a second position 223 corresponding to a position to be located at a second time point after the second time from the reference time point, which is the current position of the vehicle, on the links 201, 202, 203, ) (S203).

That is, the first link position determination unit 13-1 and the second link position determination unit 13-2 determine whether the vehicle is located at a future point on the links 201, 202, 203, and 204 located in the traveling direction of the vehicle The position can be determined.

Here, the first and second link positioning units 13-1 and 13-2 can calculate the first position 222 and the second position 223 using the following equation (1).

V is the speed of the vehicle at the reference point, T is the time, and S is the travel distance.

In this case, the first link position determining unit 13-1 calculates the moving distance after the first time from the current position 221 by reflecting the current vehicle speed and the first time in Equation (1) The first position 222 can be determined based on the calculated travel distance. (S202)

In addition, the second link position determination unit 13-2 may calculate the travel distance after the second time from the current position 221 by reflecting the current vehicle speed and the second time in Equation (1) The second position 223 can be determined based on the calculated travel distance. (S203)

On the other hand, the third link position determining section 13-3 can determine the third position 212 corresponding to the position of the point on the link located farthest from the line segment 231 connecting the first position and the second position ( S204). 6, the third link position determining unit 13-3 determines the distance from the line segment 231 connecting the first position 222 to the second position 223 to the point existing in the links 201, 202, 203, The position of the node 212, which is the position of the point at which the waterline distance 232 is the farthest, can be determined as the third position. Thereafter, the circumscribed circle generating section 14-1 may generate a circumscribed circle 233 including the first position 222, the second position 223, and the third position 212 (S205).

Then, the centrifugal force calculating unit 14-2 can calculate the centrifugal force for the circumscribed circle using the radius r of the generated circumscribed circle 233 and the vehicle speed at the reference time (S206). In this case, the centrifugal force calculating unit 14-2 can calculate the centrifugal force for the circumscribed circle by using the following expression (2).

r is the radius of the circumscribed circle, m is the mass of the vehicle, v is the velocity of the vehicle at the reference point, c is the road surface condition (eg, road surface friction coefficient), and tire condition (eg tire friction coefficient) And F may be the magnitude of the centripetal force. The magnitude of the centrifugal force is equal to the magnitude of the centripetal force and is opposite only in direction.

Here, the mass m of the vehicle may be preset to a preset mass value and stored in the storage unit. Also, c may be preset and stored in the storage unit based on experimental data through actual road driving experiments. As another example, it is also possible to calculate F by taking only the values of r and v in consideration of m and c in the above equation (2) as constants.

However, according to another embodiment, the m and c may be set to changeable values through external input. For example, when the mass m of the vehicle is inputted through the user input, the pre-stored m may be updated to m according to the user input. As another example, the server may store optimum m and c values according to classification criteria such as vehicle type, time period, etc., and the curve guide device 10 periodically communicates with the server to receive the m and c values And the previously stored m and c values can be updated to m and c values received from the server. As another example, the m and c may be obtained from the ECU of the vehicle, or may be provided from the manufacturer of the vehicle.

Accordingly, the centrifugal force calculating unit 14-2 can calculate the centrifugal force applied to the vehicle at a curve that the vehicle will travel after a predetermined time when the vehicle travels at the current speed.

Meanwhile, the risk determining unit 14-4 may compare the calculated centrifugal force with a preset threshold value, and determine the risk level of the curve section that the vehicle will travel after a predetermined time (S207). In this case, the risk judging unit 14-4 can set a plurality of threshold values to determine the risk of the curve section according to the situation and provide it to the driver. This determination process will be described in more detail with reference to FIG.

7 is a flowchart specifically illustrating a curve guiding method according to an embodiment of the present invention. Referring to FIG. 7, first, the risk judging unit 14-4 can compare the centrifugal force calculated by the centrifugal force calculating unit 14-2 with the first threshold value (S301).

If the calculated centrifugal force is smaller than the first threshold value (S301: N), the risk judging unit 14-4 can judge that the curve section in which the vehicle will travel after a predetermined time is not a dangerous period (S302 ). For example, when the curve to be driven by the vehicle after a predetermined time is a curve section having a small degree of warpage (for example, a radius having a large radius of a circumscribed circle) or when the current speed of the vehicle is low, Lt; / RTI &gt; In this case, the risk judging unit 14-4 can judge that the road on which the vehicle will travel after a predetermined time is not a dangerous curve section.

If the calculated centrifugal force is larger than the first threshold value (S301: Y), the risk judging unit 14-4 can compare the calculated centrifugal force and the second threshold value (S303). Wherein the second threshold value may be a value greater than the first threshold value.

If the calculated centrifugal force is larger than the first threshold value and smaller than the second threshold value (S303: N), the risk judging section 14-4 judges the risk of the curve section in which the vehicle will travel after the predetermined time, Level (S304).

If the calculated centrifugal force is larger than the second threshold value (S303: Y), the risk judging unit 14-4 can judge the risk of the curve section in which the vehicle will travel after the predetermined time as the second risk level (S305).

Here, the first danger level may be a warning level informing the user to &quot; Attention &quot; the curve risk of the road on which the vehicle is to travel, and the second danger level may be more than the & It may be a "Warning" level requiring a high level of attention.

For example, when the curve to be driven by the vehicle after a predetermined time is a curve section having a large degree of warpage (for example, a radius of a circumscribed circle is small) or when the current speed of the vehicle is high, It is possible to measure the magnitude of the centrifugal force and provide information such as &quot; caution &quot; or &quot; warning &quot; to the user before entering the curve section according to the measured magnitude.

In this case, the risk judging unit 14-4 can judge that the road on which the vehicle will travel after a predetermined time is a curve requiring attention or warnings based on a comparison between the threshold value and the calculated centrifugal force. Of course, when the calculated centrifugal force is smaller than the first threshold value, the risk judging section 14-4 can judge that the section in which the current vehicle enters is a safe section in which caution or warning is not necessary. Of course, even in a safe state, the driver may output a "safety" indication that the road on which the vehicle is to be driven is a safe section, or a "safety" The display may not be output.

On the other hand, the first and second thresholds described above can be changed based on the link attribute information. Specifically, the weight calculation unit 14-3 calculates a weight for a threshold value based on at least one of road class information, road width information, road lane number information, and road gradient information among the obtained link information, The predetermined threshold value can be adjusted based on the weighted value. This will be described in detail with reference to FIG.

8 is a diagram illustrating threshold control according to an embodiment of the present invention. The risk of a curve section felt by a user's sensory organs can be classified into a road rank (eg, a road or an ordinary road), a road type, a road width (eg, (For example, information on roads or road width information), the number of road lanes (eg, information on whether road lanes are large or small or road lane number information), road gradients (eg, whether the road is uphill or downhill or superelevation information) .

For example, when the number of roads of the curve section is large, the danger that the driver feels about the curve section is smaller than when the number of road sections of the curve section is small. On the contrary, when the number of the roads of the curve section is small, the danger that the driver feels about the curve section will be larger than when the number of road sections of the curve section is large.

As another example, if the road class to which the curve section belongs is a highway, the risk that the driver feels about the curve section will be smaller than that of the ordinary road. Conversely, if the road to which the curve section belongs is a general road, the risk that the driver feels about the curve section will be larger than that of the expressway.

As another example, when the width of the curve section is wide, the risk perceived by the driver on the curve section will be smaller than when the width of the curve section is narrow. On the other hand, when the width of the curve section is narrow, the danger that the driver feels about the curve section will be larger than when the width of the curve section is wide.

As another example, if the curve section is on an uphill road, the risk perceived by the driver on the curve section will be smaller than when the curve section is on the downhill road. Conversely, if the curve section is on the downhill road, the risk perceived by the driver on the curve section will be greater than when the curve section is on the uphill road.

As another example, when the superelevation of the curve section is large, the risk experienced by the driver on the curve section may be smaller than the curve section with the superelevation history. On the contrary, when the superelevation of the curve section is small, the danger that the driver feels about the curve section is larger than the curve section where the superelevation history is large.

The weight calculation unit 14-3 calculates a weight value by using a value smaller than '1', greater than '1', or greater than '1', reflecting the risk of a curve section sensed by the user's sensory organ according to the road attribute And adjust the first threshold value T10 and the second threshold value T20 based on the calculated weight values.

According to the above two cases, in case 1, the weight calculating unit 14-3 calculates the weight as '1' or 'a value larger than 1', and in Case 2, the weight is calculated as a value smaller than '1' , '1', or '1'.

Specifically, in the case where the number of roads of the curve section is large, the height of the vehicle is low, the weight of the vehicle is light, the width of the vehicle is wide, In the case where the curve section is wide, the curve section is on the uphill road, or the superelevation curve of the curve section is large, the weight calculating section 14-3 can calculate the weight value to be larger than '1'.

Also, when the number of roads of the curve section is small, the height of the vehicle is heavy, the weight of the vehicle is heavy, the width of the vehicle is narrow, the road on which the curve section belongs is a general road, The weight calculation unit 14-3 may calculate the weight value to be '1' or a value smaller than '1' in the case where the curve segment is on the downward road or the superelevation curve of the curve segment is small.

If the respective situations are overlapped, the weight calculating unit 14-3 may calculate the final weight by multiplying the weights corresponding to the respective situations.

On the other hand, when the weight value calculated by the weight calculation unit 14-3 is larger than '1', the first threshold value T10 and the second threshold value T20 are respectively set to the first-second threshold value T12 and the second- 2-2 threshold value (T22). When the new threshold value is larger than the predetermined threshold value, the risk guidance of the curve section can be performed in the running situation (such as an increase in the current running speed) in which the expected centrifugal force to be applied to the vehicle becomes larger than the predetermined centrifugal force ), (b)).

If the weight value calculated by the weight calculating unit 14-3 is smaller than '1', the first threshold value T10 and the second threshold value T20 are set to the first threshold value T11 and the second threshold value T20, Can be adjusted to a 2-1 threshold (T21). When the new threshold value becomes smaller than the preset threshold value, the risk guidance of the curve section can be performed even in the running situation (reduction in the current running speed, etc.) in which the expected centrifugal force to be applied to the vehicle becomes smaller than the predetermined centrifugal force (a) and (c)).

On the other hand, in the above-described embodiment, the weight calculation unit 14-3 calculates a weight value based on at least one of road class information, road type information, road width information, road gradient information, The threshold value is set to a predetermined value. However, the present invention is not limited thereto.

According to another embodiment of the present invention, the weight calculation unit 14-3 calculates the weight m (t) based on at least one of road class information, road width information, road gradient information and lane number information the second weight for adjusting the value of c may be calculated, and the calculated second weight may be used to adjust the value of the constant m * c. For example, in the case where the number of roads of the curve section is large, the grade of the road to which the curve section belongs is high speed, the width of the curve section is wide, the curve section is on the uphill road, The calculation unit 14-3 can calculate the second weight value as a value smaller than '1'. In this case, since the centrifugal force calculated through the equation (2) becomes smaller than the centrifugal force before the reflection of the second weight, the risk guidance may not be performed even in a situation where the risk guidance should be performed.

In the case where the number of roads of the curve section is small, the grade of the road to which the curve section belongs is a general road, the width of the curve section is narrow, the curve section is on the downhill road, (14-3) can calculate the second weight as a value larger than '1'. In this case, since the centrifugal force calculated by the equation (2) is larger than the centrifugal force before the reflection of the second weight, the risk guidance can be performed even in the case where the risk guidance is not performed previously.

According to various embodiments of the present invention, it is possible to determine in real time whether a road to be driven by a vehicle after a predetermined time is a curve section using existing link information. Therefore, Curve guidance can be performed without prior investigation.

In addition, when guidance of the risk for the curve section to be driven by the vehicle is performed after a predetermined time, the user is guided simultaneously considering the curvature of the curve section and the current driving speed of the vehicle, so that the user can cope more effectively in the curve section. For example, if the curvature of the curve section is large but the vehicle is currently traveling at a low speed and the probability of exposure to the danger in the curve section is low, the user is not informed of the risk, thereby preventing the user from being disturbed by the unnecessary guidance, Can be improved.

In addition, according to various embodiments of the present invention described above, it is possible to provide an element that can affect a risk of a curve section sensed by a user through a sensory organs, for example, a road grade (e.g., (Eg information on the width or width of the road or information on the width of the road), the number of road lanes (eg, information on the number of road lanes or lanes or the number of road lanes), road slope the guidance of the risk of the curve section can be performed more precisely by adjusting the threshold value of the risk guidance by reflecting the road end slope information or the superelevation information.

For example, when the threshold value of the risk guidance varies according to the road grade among the various embodiments of the present invention, the road grade information is set so as to have a flag value of '1' for highway and '0' Can be set.

If the threshold value of the risk guidance varies according to the road width information, the road width information may be set to a flag value of '0' and '1', or may include actual road width information. For example, if the road width information is set to have a flag value of '1' when the road width is wide and the flag value of '0' when the road width is narrow, Can be set.

Also, according to various embodiments of the present invention described above, the risk of a curve section is divided into two steps of 'attention' and 'warning', so that the user can more effectively cope with the curve section. In the present specification, the risk of the curve section is divided into two stages of 'caution' and 'warning'. However, it is possible to provide various guidance according to the risk of the curve section, have.

Meanwhile, according to the above-described example, the risk determining unit 14-4 has described an example in which the calculated centrifugal force is compared with a predetermined threshold value to determine the risk of the curve section in which the vehicle will travel after the predetermined time, It is not. According to another embodiment, the risk judging unit 14-4 judges whether the road to be driven after a predetermined time based on the calculated bend angle, the speed of the vehicle at the reference point is a dangerous curve when traveling at the current speed can do. This will be described in detail with reference to FIG.

9 is a diagram illustrating a curve determination method according to another embodiment of the present invention. 5 to 6, and the first link position determination section 13-1 determines that the vehicle is located at a first point in time after the first time from the reference point 321 on the links 301, 302, 303, 304 of the vehicle A first position 322 corresponding to the point may be determined.

In addition, the second link position determination section 13-2 determines a second position 323 corresponding to a position on the links 301, 302, 303, 304 of the vehicle at a second time point after the second time from the reference time point .

The third link position determining section 13-3 determines a third position corresponding to the position of the point on the link located farthest from the line segment 331 connecting the first position 322 and the second position 323 . 9, the third link position determining section 13-3 determines the distance from the line segment 331 connecting the first position 322 to the second position 323 to the distance existing between the line segment 331 and the point on the links 301, 302, 303, The position of the node 312, which is the position of the point farthest from the waterline distance 332, can be determined as the third position.

(Not shown) connects an extension line 350 of the line segment 341 connecting the first position 322 and the third position 312 with the extension line 350 connecting the second position 323 and the third position 312 The angle 333 formed by the extension line 360 of the line segment 342 can be calculated.

In this case, the risk judging unit 14-4 compares the calculated angle 333 with the threshold angle corresponding to the vehicle speed at the reference time point, and judges the risk of the curve section in which the vehicle will travel after a predetermined time . For example, when the calculated angle 333 is larger than the critical angle corresponding to the speed of the vehicle at the reference time point, the risk judging unit 14-4 judges that the curve section in which the vehicle will travel after a predetermined time is not dangerous It can be judged. However, if the calculated angle 333 is smaller than the critical angle corresponding to the vehicle speed at the reference time, the risk judging unit 14-4 judges that the curve section to be driven by the vehicle after the predetermined time is dangerous have.

In this case, the risk determination unit 14-4 can determine the risk of the curve section by setting a plurality of critical angles as in the above-described examples. Such a configuration can be easily deduced based on the above-described examples, so a detailed description thereof will be omitted.

Meanwhile, the curve guiding apparatus 10 according to an embodiment of the present invention can determine a link position using a curved link corresponding to a link. This will be described in detail with reference to FIGS. 10 to 11. FIG.

10 is a flowchart illustrating a curve guiding method according to another embodiment of the present invention. 11 is a diagram illustrating a curved link according to another embodiment of the present invention.

Referring to FIGS. 10 to 11, the curve guide apparatus 10 may obtain link information corresponding to a road on which the vehicle is traveling (S401). Specifically, the link information obtaining unit 11 can obtain link information corresponding to a road on which the vehicle travels from map data composed of a plurality of links for indicating roads in a plurality of areas.

11, the link information obtaining unit 11 includes a plurality of links 201, 202, 203 and 204, nodes 211, 212, 213 and 214 connecting the plurality of links 201, 202, 203 and 204, And link information including at least one of information and node attribute information.

The curve link generation unit 14-7 may generate a curve link corresponding to the acquired link using a curve algorithm such as a Bezier curve algorithm (S402). More specifically, the curved link generation unit 14-7 includes a plurality of links 201, 202, 203, and 204, nodes 211, 212, 213, and 214 connecting the links 201, 202, 203, and 204, Points may be used to create a curved link 510 corresponding to a plurality of links 201, 202, 203, 204.

Then, the link position determination unit 13 can determine the current position 521 of the vehicle on which the electronic device or the electronic device is installed on the curved link 510 using the GPS signal (S403).

In addition, the link position determining unit 13 may determine the position of the future point of view of the vehicle on the curved link (S404). Specifically, the first link position determining unit 13-1 determines, A first position 522 corresponding to a position to be located at a first time point after the first time from the reference time point can be determined. Further, the second link position determination section 13-2 can determine a second position 523 corresponding to a position on the curve link 510 where the vehicle is to be positioned at a second time point after the second time from the reference time point (S203).

In this case, the first and second link position determination units 13-1 and 13-2 can calculate the first position 522 and the second position 523 using the above-described equation (1).

On the other hand, the third link position determining section 13-3 determines the distance between the line distances 532 from the line segment 531 connecting the first position 522 to the second position 523 to the point existing on the curved link 510, And the position of the point which is the position of the point at the farthest distance from the waterline 532 can be determined as the third position 533.

On the other hand, the risk judging unit 14-4 can judge the risk of the curve section in which the vehicle will travel by using the position of the future point determined by the link position determining unit 13 and the vehicle speed at the reference point ( S405). Specifically, the risk judging unit 14-4 calculates the centrifugal force acting on the vehicle in the curve section using the determined plurality of positions 522, 523, and 533 and the vehicle speed at the current time, which is the reference time point 521, The risk of the curve section can be determined based on the calculated centrifugal force.

According to the present invention, the risk of the curve section can be guided more accurately. Specifically, since the actual movement path of the vehicle is a curve while the links are formed in a straight line, when the link positions are determined using the pre-stored links as they are, or when the centrifugal force is calculated, data that does not reflect the actual movement characteristics of the vehicle And the accuracy of risk guidance may be lowered. However, according to an embodiment of the present invention, the position of the future point of time of the vehicle on the curved link is determined, and the position of the future point of time determined on the curved link and the vehicle speed at the reference point are used to calculate the curve By determining the risk of the section, the risk of the curve section can be guided more accurately.

On the other hand, the link position determining unit 13 can determine the first position by adjusting the first time according to whether the vehicle enters a curve. This will be described in more detail with reference to FIG.

12 (a) is a view for explaining a possible problem when the first time is not adjusted according to whether or not the vehicle enters a curve. Referring to Fig. 12 (a), the current position 411 of the vehicle may approach the curve end point 404 in accordance with the running of the vehicle. In this situation, when the link position determination unit 13 predicts the future positions 412 and 413 of the vehicle using the predetermined first and second times, the future positions 412 and 413 correspond to the straight line sections outside the curve section May be located in links 402 and 403. In this case, since the centrifugal force is close to zero in the straight line section, the risk judging section 14-4 judges that the curve section in which the vehicle will travel after a predetermined time is not dangerous, and ends the curve guidance.

Therefore, even though the vehicle is currently traveling on the curve, the curve guidance may be terminated, which may cause a problem that the driver's assist function can not be performed accurately.

12 (b) is a diagram for explaining an example of adjusting the first time according to whether or not the vehicle enters a curve. Referring to FIG. 12 (b), when the vehicle enters the curve and travels, the link position determination unit 13 can determine the first position 432 by shortening the predetermined first time. For example, when the predetermined first time is 1 second, the first position 432 can be determined by gradually reducing the first time such as 0.8 seconds, 0.6 seconds, and 0.4 seconds when entering the curve. In this case, the distance difference between the current position 431 of the vehicle and the first position 432, which is a position after the first time, can be reduced. That is, when the vehicle is traveling in the curve section, the first position 432 may also be located on the link 421 corresponding to the curve section.

In this case, since the first position 432 is not located on the links 422, 423 corresponding to the straight section, the predetermined radial position including the first position 432, the second position 433, and the third position 424 The circumscribed circle 441 may be formed. Then, the risk judging unit 14-4 can judge the risk of the curve section in which the vehicle will travel after a predetermined time based on the current speed.

According to this embodiment, the problem that the curve guide ends before the vehicle passes the curve end point (the third position 424 in FIG. 12 (b) corresponds to the curve end point) can be solved. On the other hand, when the vehicle passes the curve end point 424, the first link position determination section 13-1 can determine the first position by adjusting the first time to the original default value.

Meanwhile, the curve guide apparatus 10 according to another embodiment of the present invention can determine the curve direction. This will be described in detail with reference to FIGS. 13 to 14. FIG. Referring to FIG. 13, the curve guide apparatus 10 according to another embodiment of the present invention may include a curve direction determination unit 14-8.

Here, the curve direction determination unit 14-8 can determine whether the curve section that the vehicle will travel after a predetermined time is the left curve or the right curve. More specifically, the curve direction determination unit 14-8 determines at least two or more positions of the vehicle in the link at a future time point, calculates a vector directed to at least two positions determined from the current position of the vehicle, It is possible to determine whether the curve section in which the vehicle will travel after a predetermined time is the left curve or the right curve using the direction component of the outer product of the calculated vector. This will be described in more detail with reference to FIG.

14 is a diagram illustrating a curve direction determination method according to an embodiment of the present invention. Referring to Fig. 14 (a), the first link position determination section 13-1 determines whether or not the first link position determination section 13-1 is located at a position that is located at a first time point after the first time from the current position 621 of the vehicle on the links 601, 602, 603, It is possible to determine the corresponding first position 622.

The second link position determining section 13-2 determines the second position 623 corresponding to the position to be located at the second time point after the second time from the current position 621 of the vehicle on the links 601, 602, 603, Can be determined.

In this case, the curve direction determination unit 14-8 calculates the first vector (631) from the current position 621 of the vehicle to the first position 622, 2 &lt; / RTI &gt; (632) towards the second position 623. The curve direction determination unit 14-8 may calculate the direction component by externally externally interpolating the first vector 631 and the second vector 632. For example, when the first vector 631 and the second vector 632 exist in the X and Y axes as shown in FIG. 14A, if the first vector 631 and the second vector 632 are external to each other (The first vector 631 and the second vector 632), the direction of the outer product may be the -Z direction perpendicular to the first vector 631 and the second vector 632 according to the right-hand rule. In this case, the curve direction determination unit 14-8 can determine the curve section that the vehicle will travel after the predetermined time as the right curve.

14 (b), when the first vector 631 and the second vector 632 are external to each other (equation (1): first vector 631) x second vector 632), the direction of the outer product may be in the + Z direction perpendicular to the first vector 631 and the second vector 632, according to the right-hand rule. In this case, the curve direction determination unit 14-8 can determine the curve section that the vehicle will travel after the predetermined time as the left curve.

The curve guide device 10 may be implemented as one module of the electronic device 100 to perform a curve guiding function. This will be described in more detail with reference to FIGS. 15 to 17. FIG.

15 is a block diagram illustrating an electronic device according to an embodiment of the present invention. 15, the electronic device 100 includes a storage unit 110, an input unit 120, an output unit 130, a curve guide unit 140, an augmented reality providing unit 160, a control unit 170, A sensing unit 190, and a power supply unit 195, as shown in FIG.

Here, the electronic device 100 may be a smart phone, a tablet computer, a notebook computer, a personal digital assistant (PDA), a portable multimedia player (PMP), a smart glass, a project glass, a car dash cam or a car video recorder, which is a vehicle image pickup apparatus, and may be provided in a vehicle.

The driving-related information includes various information for assisting the driver of the vehicle such as route guidance, lane departure guidance, lane keeping guidance, forward vehicle departure guidance, traffic light change guidance, forward vehicle collision prevention guide, Guidance may be included.

Herein, the route guidance includes an augmented reality route guide for performing route guidance by combining various information such as a user's position, direction, and the like on an image taken in front of a vehicle in operation, a 2D (2-Dimensional) or 3D (3-Dimensional) (2-Dimensional) or 3D (3-Dimensional) route guidance for performing route guidance by combining various information such as a user's location, direction, and the like to map data of the user.

In addition, the route guidance may include an aerial map route guide for performing route guidance by combining various information such as the user's location, direction, and the like in the aerial map data. Here, the route guidance can be interpreted not only as a case when the user is riding on the vehicle, but also as a concept including a route guidance when the user walks or jumps.

Further, the lane departure guidance may be to guide whether the vehicle being driven off the lane.

Further, the lane-keeping guidance may be to guide the vehicle to return to the lane on which the vehicle is originally running.

In addition, the forward vehicle departure guidance may be to guide the departure of the vehicle located in front of the stopped vehicle.

Further, the traffic light change guidance may be to guide the signal change of the signal lamp located in front of the vehicle being stopped. For example, when the red signal lamp indicating the stop signal is turned on and the blue signal lamp indicating the start signal is changed, it may be guided.

The front vehicle collision avoidance guidance may be to guide the vehicle to avoid a collision with the preceding vehicle when the distance to the vehicle located in front of the stopped or running vehicle is within a certain distance.

In addition, the lane change guidance may be for guiding the change from the lane where the vehicle is located to another lane for guiding the route to the destination.

Also, the lane guidance may be to guide the lane where the vehicle is currently located.

In addition, the curve guidance may be that the road on which the vehicle will travel after a predetermined time is a curve.

Such driving-related images, such as a forward image of the vehicle, enabling the provision of various guides can be photographed in a camera mounted on a vehicle or a camera of a smart phone. Here, the camera may be a camera that is integrally formed with the electronic device 100 mounted on the vehicle and photographs the front of the vehicle.

As another example, the camera may be a camera that is mounted on the vehicle separately from the electronic device 100 and photographs the front of the vehicle. In this case, the camera may be a separate vehicle image capturing apparatus that is mounted toward the front of the vehicle, and the electronic device 100 may receive the captured image through wired / wireless communication with the separately mounted image capturing apparatus for a vehicle, When the storage medium storing the photographed image of the photographing apparatus is inserted into the electronic apparatus 100, the electronic apparatus 100 can receive the photographed image.

Hereinafter, the electronic device 100 according to one embodiment of the present invention will be described in more detail based on the above description.

The storage unit 110 functions to store various data and applications necessary for the operation of the electronic device 100. In particular, the storage unit 110 may store data necessary for the operation of the electronic device 100, for example, an OS, a route search application, map data, and the like. Also, the storage unit 110 may store data generated by the operation of the electronic device 100, for example, the detected path data, the received image, and the like.

The storage unit 110 may be implemented as a random access memory (RAM), a flash memory, a ROM, an erasable programmable ROM (EPROM), an electronically erasable and programmable ROM (EEPROM), a register, a hard disk, Card, a Universal Subscriber Identity Module (USIM), or the like, as well as a detachable type storage device such as a USB memory.

The input unit 120 functions to convert a physical input from the outside of the electronic device 100 into a specific electric signal. Here, the input unit 120 may include all or some of the user input unit 121 and the microphone unit 123.

The user input unit 121 can receive user inputs such as touch, push operation, and the like. Here, the user input unit 121 may be implemented using at least one of various types of buttons, a touch sensor for receiving a touch input, and a proximity sensor for receiving a motion to be accessed.

The microphone unit 123 can receive the user's voice and the sound generated from the inside and the outside of the vehicle.

The output unit 130 is a device that outputs data of the electronic device 100 to the user as an image and / or a voice. Here, the output unit 130 may include all or a part of the display unit 131 and the audio output unit 133.

The display unit 131 is a device that outputs data that can be visually recognized by the user. The display unit 131 may be implemented as a display unit provided on the front surface of the housing of the electronic device 100. The display unit 131 is integrally formed with the electronic device 100 and can output visual recognition data. The display unit 131 is installed separately from the electronic device 100 such as a HUD (Head Up Display) You may.

The audio output unit 133 is a device that outputs data that the electronic device 100 can perceive audibly. The audio output unit 133 may be implemented as a speaker for expressing sound data to be notified to the user of the electronic device 100.

The curve guide unit 140 may perform the function of the curve guide apparatus 10 described above. Specifically, the curve guide unit 140 acquires the link information corresponding to the road on which the vehicle travels, determines the position in the link of the vehicle at a future point in time, The risk of the curve section in which the vehicle will travel after the time can be judged.

The augmented reality providing unit 160 may provide an augmented reality view mode. Here, the augmented reality is a graph that displays supplementary information (for example, graphical elements indicating a point of interest (POI), graphical elements guiding a curve, and safe driving of a driver) Various supplementary information for helping, etc.) in a visually superimposed manner.

The augmented reality providing unit 160 may include all or some of a calibration unit, a 3D space generating unit, an object generating unit, and a mapping unit.

The calibration unit may perform calibration for estimating a camera parameter corresponding to the camera from the captured image captured by the camera. Here, the camera parameter is a parameter that constitutes a camera matrix, which is information indicating a relation in which a real space is formed on a photograph, and may include extrinsic parameters and intrinsic parameters.

The 3D space generating unit may generate a virtual 3D space based on the photographed image photographed by the camera. Specifically, the 3D space generating unit may generate a virtual 3D space by applying the camera parameters estimated by the calibration unit to 2D photographed images.

The object generation unit may generate an object for guidance on the augmented reality, for example, a route guidance object, a lane change guide object, a lane departure guide object, a curve guide object, and the like.

The mapping unit may map an object generated in the object creation unit to the virtual 3D space created in the 3D space creation unit. Specifically, the mapping unit may determine the position of the object generated in the object creation unit in the virtual 3D space, and perform mapping of the object at the determined position.

Meanwhile, the communication unit 180 may be provided for the electronic device 100 to communicate with other devices. The communication unit 180 includes all or part of the location data unit 181, the wireless Internet unit 183, the broadcast transmission / reception unit 185, the mobile communication unit 186, the short-range communication unit 187, and the wired communication unit 189 .

The position data section 181 is a device for acquiring position data through a Global Navigation Satellite System (GNSS). GNSS means a navigation system capable of calculating the position of a receiving terminal using a radio signal received from a satellite. A specific example of GNSS is a GPS (Global Positioning System), a Galileo, a GLONASS (Global Orbiting Navigational Satellite System), a COMPASS, an Indian Regional Navigational Satellite System (IRNSS), a Quasi-Zenith Satellite System . The location data portion 181 of the electronic device 100 according to an embodiment of the present invention may receive the GNSS signal serviced in the area where the electronic device 100 is used to obtain location data. Alternatively, the position data unit 181 may acquire position data through communication with a base station or an AP (Access Point) in addition to the GNSS.

The wireless Internet unit 183 is a device that connects to the wireless Internet to acquire or transmit data. The wireless Internet unit 183 is connected to the wireless LAN unit 183 through various communication protocols defined to perform wireless data transmission and reception of WLAN (Wireless LAN), Wibro (wireless broadband), Wimax (World interoperability for microwave access), and HSDPA The user can access the Internet.

The broadcast transmitting and receiving unit 185 is a device for transmitting and receiving broadcast signals through various broadcasting systems. The broadcasting system that can transmit and receive through the broadcasting transmission and reception unit 185 may be a DMBT (Digital Multimedia Broadcasting Terrestrial), a DMBS (Digital Multimedia Broadcasting Satellite), a MediaFLO (Media Forward Link Only), a DVBH (Digital Video Broadcast Handheld) Services Digital Broadcast Terrestrial). The broadcast signal transmitted / received through the broadcast transmission / reception unit 185 may include traffic data, living data, and the like.

The mobile communication unit 186 can access the mobile communication network according to various mobile communication standards such as 3rd Generation (3G), 3rd Generation Partnership Project (3GPP) and Long Term Evolution (LTE)

The short-range communication unit 187 is a device for short-range communication. As described above, the short-range communication unit 187 is a communication unit that transmits and receives data to and from a mobile communication terminal such as a Bluetooth, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), an Ultra Wide Band (UWB), a ZigBee, -Fi (Wireless-Fidelity) or the like.

The wired communication unit 189 is an interface device capable of connecting the electronic device 100 with another device by wire. The wired communication unit 189 may be a USB module capable of communicating via the USB port.

The communication unit 180 includes at least one of the location data unit 181, the wireless Internet unit 183, the broadcast transmission / reception unit 185, the mobile communication unit 186, the short-range communication unit 187, and the wired communication unit 189 To communicate with other devices.

For example, in a case where the electronic device 100 does not include a camera function, at least one of the short distance communication unit 187 and the wired communication unit 189 may be used to capture an image photographed by a vehicle image photographing apparatus such as a car dash cam or a car video recorder Can be received.

As another example, when communicating with a plurality of devices, one may communicate with the short-range communication unit 187 and the other with the wired communication unit 119. [

The sensing unit 190 is a device capable of sensing the current state of the electronic device 100. The sensing unit 190 may include all or a part of the motion sensing unit 191 and the optical sensing unit 193.

The motion sensing unit 191 can sense movement of the electronic device 100 in a three-dimensional space. The motion sensing unit 191 may include a three-axis geomagnetic sensor and a three-axis acceleration sensor. The motion data acquired through the motion sensing unit 191 can be combined with the position data acquired through the position data unit 181 to more accurately calculate the locus of the vehicle to which the electronic device 100 is attached.

The optical sensing unit 193 is a device for measuring the ambient illuminance of the electronic device 100. The brightness of the display unit 131 can be changed to correspond to the surrounding brightness by using the illuminance data acquired through the optical sensing unit 193. [

The power supply unit 195 is a device for supplying power necessary for operation of the electronic device 100 or operation of another device connected to the electronic device 100. [ The power supply unit 195 may be a battery built in the electronic device 100, or a device that receives power from an external power source such as a vehicle. In addition, the power supply unit 195 may be implemented as a wired communication module 119 according to the type of power supply, or may be implemented as a wirelessly supplied device.

The control unit 170 controls the overall operation of the electronic device 100. More specifically, the control unit 170 includes a storage unit 110, an input unit 120, an output unit 130, a curve guide unit 140, an augmented reality providing unit 160, a communication unit 180, a sensing unit 190, It is possible to control all or a part of the power supply unit 195.

In particular, the control unit 170 can obtain link information corresponding to the road on which the vehicle is to be driven later. Here, the link information can be obtained from the route guidance data for guiding the route to the destination.

For example, when the destination information is input through the input unit 120, the controller 170 may generate route guidance data to the destination using the map data stored in the storage unit 110. FIG. Alternatively, when the destination information is input through the input unit 120, the controller 170 may transmit a route guidance request including at least one of current location information and destination information to the server. In response to the route guidance request, route guidance data can be received from the server. In this case, the control unit 170 can obtain link information corresponding to the road on which the vehicle travels from the route guidance data.

In addition, the control unit 170 can acquire the link information based on the estimated travel route information of the vehicle based on the real-time location information of the vehicle.

On the other hand, the controller 170 determines the position of the vehicle on the link after a predetermined time from the reference time point, and travels after a predetermined time when the vehicle travels at the current speed using the vehicle speed at the determined position and the reference time point It is possible to judge whether or not the road is a dangerous curve. In this case, the control unit 170 can use the above-described determination process of FIGS.

Also, the controller 170 may control the output unit 130 to output the curve guide according to the determination result. If the curve risk level is the first critical level, the control unit 170 may control the output unit 130 to output the first curve section guidance. Where the first risk level may be a number that indicates that the curve requires user attention.

If the curve risk level is the second critical level, the controller 170 may control the output unit 130 to output the second curve section guidance. Here, the second risk level may be a number that indicates that the user's higher caution (warning) is a necessary curve.

If the curve risk is lower than the first risk level, the control unit 170 may control the output unit 130 to not output the curve guidance.

In addition, the control unit 170 may classify the risk of the curve into three or more levels, and provide the user with a curve risk guide appropriate to the situation for each step.

On the other hand, such curve guidance can be performed in the augmented reality screen. Specifically, the augmented reality providing unit 160 may generate a curve guide object and map it to a virtual 3D space to generate an augmented reality screen, and the controller 170 may display the generated augmented reality screen, It is possible to control the display unit 131.

16 is a diagram for explaining a system network connected to an electronic device according to an embodiment of the present invention. 16, the electronic device 100 according to an exemplary embodiment of the present invention may be implemented as various devices installed in a vehicle such as a navigation device, a vehicle image capturing device, a smart phone or other augmented reality interface providing device, , Various communication networks and other electronic devices 61-64.

In addition, the electronic device 100 can calculate the current position and the current time zone by interlocking the GPS module according to the radio wave signal received from the satellite 20. [

Each of the satellites 20 can transmit L-band frequencies having different frequency bands. The electronic device 100 may calculate the current position based on the time it takes for the L band frequency transmitted at each satellite 20 to reach the electronic device 100. [

The electronic device 100 can be wirelessly connected to the network 30 through the communication unit 180 through the control station 40, the ACR, the base station 50, the RAS, and the AP. When the electronic device 100 is connected to the network 30, it can indirectly connect with other electronic devices 61 and 62 connected to the network 30 to exchange data.

On the other hand, the electronic device 100 may be indirectly connected to the network 30 through another device 63 having a communication function. For example, when a module capable of connecting to the network 30 is not provided in the electronic device 100, it can communicate with another device 63 having a communication function through a short-range communication module or the like.

17 is a diagram showing a curve guide screen of an electronic device according to an embodiment of the present invention. 17 (a) is a diagram showing a curve section guidance screen when the curve risk level is at the first risk level. 17A, the electronic device 100 generates first curve section guide objects 1001 and 1003 indicating a risk level of a first danger level, and generates first curve section guide objects 1001 and 1003 ) Can be output through the augmented reality.

On the other hand, Fig. 17 (b) is a diagram showing a curve guidance screen when the curve risk level is the second risk level. Referring to FIG. 17B, the electronic device 100 generates second curve section guide objects 1002 and 1004 indicating a risk level of the second critical level, and generates second curve section guide objects 1002 and 1004 ) Can be output through the augmented reality.

Here, the first curve section guide objects 1001 and 1003 may be objects that guide curves requiring user attention. That is, the first curve section guidance may be an attention guide to notify the driver of the risk of escaping the road of the curve section when the vehicle passes the curve section.

The second curve section guide objects 1002 and 1004 may be objects that guide the user to a curve requiring more attention. That is, the second curve section guidance may be a warning guide for notifying the risk of rollover of the vehicle passing through the curve section.

Accordingly, the first curve section guide objects 1001 and 1003 and the second curve section guide objects 1002 and 1004 can be configured to be distinguishable from each other by different shapes, colors, and the like.

Meanwhile, the first curve section guide objects 1001 and 1003 and the second curve section guide objects 1002 and 1004 may be displayed along the area where the car travels in the road area of the augmented reality screen. In addition, the first curve section guide objects 1001 and 1003 and the second curve section guide objects 1002 and 1004 may be implemented as a texture image and displayed through an augmented reality. Accordingly, the driver can easily recognize the road on which the vehicle is traveling.

Also, the electronic device 100 can output the first curve section guide objects 1001 and 1003 and the second curve section guide objects 1002 and 1004 through voice.

18 is a flowchart showing a curve guiding method of an electronic device according to an embodiment of the present invention. Referring to FIG. 18, first, the electronic device 100 may obtain link information corresponding to a road on which the vehicle is to be driven (S501). Here, the link information can be obtained from the route guidance data for guiding the route to the destination. Or the link information may be obtained on the basis of the estimated route information in which the vehicle is expected to travel.

Then, the electronic device 100 can determine the position of the vehicle on the link at the current time point and the future time point (S502).

Then, the electronic device 100 can determine the risk of the curve section to be driven by the vehicle after a predetermined time when the vehicle is traveling at the current speed, using the determined future position of the future point and the vehicle speed at the reference point (S503). In this case, the control unit 170 can use the above-described determination process of FIGS.

If the curve risk is at the first critical level, the electronic device 100 may output the first curve section guidance (S504).

If the curve risk is at the second critical level, the electronic device 100 may output the second curve section guidance (S505).

If the curve risk is lower than the first risk level, the electronic device 100 may not output the curve section guidance (S506).

19 is a diagram showing an embodiment in which an electronic device according to an embodiment of the present invention does not include a photographing unit. Referring to FIG. 19, a vehicle image pickup apparatus 200 provided separately from the vehicle electronic device 100 can configure a system according to an embodiment of the present invention using a wired / wireless communication method.

The vehicle electronic device 100 may include a display unit 131 provided on a front surface of the housing 191, a user input unit 121, and a microphone 123.

The vehicle image capturing apparatus 200 may include a camera 222, a microphone 224, and an attaching unit 281. [

20 is a view showing an embodiment in which an electronic device according to an embodiment of the present invention includes a photographing unit. 20, when the electronic device 100 includes the photographing unit 150, the user can photograph the front of the vehicle by the photographing unit 150 of the electronic device 100, Or the like, so that the user can recognize the part. Accordingly, a system according to an embodiment of the present invention can be implemented.

FIG. 21 is a diagram illustrating an embodiment using an HUD (Head-Up Display) according to an embodiment of the present invention. Referring to FIG. 21, the HUD can display an augmented reality guidance screen on a head-up display through wired / wireless communication with other devices.

For example, the augmented reality may be provided through the HUD using the windshield of the vehicle or an image overlay using a separate image output device, and the augmented reality providing unit 160 may provide the augmented reality image or the interface image overlaid on the glass Can be generated. Through this, an augmented reality navigation system or a vehicle infotainment system can be implemented.

Meanwhile, the curve guidance method according to various embodiments of the present invention described above can be implemented by a program and provided to a server or devices. Accordingly, each device can access the server or the device in which the program is stored and download the program.

In addition, the control method according to various embodiments of the present invention described above can be implemented as a program and stored in various non-transitory computer readable media. A non-transitory readable medium is a medium that stores data for a short period of time, such as a register, cache, memory, etc., but semi-permanently stores data and is readable by the apparatus. In particular, the various applications or programs described above may be stored on non-volatile readable media such as CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM,

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention.

10: curve guide device 11: link information acquisition unit
12: speed sensing unit 13: link position determining unit
14: control unit 100: electronic device
110: storage unit 120: input unit
130: output unit 140: curve guide unit
160: augmented reality providing unit 170:
180: communication unit 190: sensing unit
195:

Claims (41)

In the curve guiding method,
Obtaining link information corresponding to a road on which the vehicle is traveling;
Determining a position of the vehicle in the link at a future time point based on the obtained link information; And
And determining a risk of a curve section in which the vehicle will travel after a predetermined time using the determined position and the vehicle speed at a reference time point which is a current position of the vehicle. The method according to claim 1,
Wherein the determining comprises:
Determining a position in a link of the vehicle at each of a plurality of future time points,
Wherein the determining step comprises:
Calculates a centrifugal force to be applied to the vehicle in the curve section using the determined plurality of positions and the vehicle speed at the reference time point and determines the risk of the curve section based on the calculated centrifugal force . 3. The method of claim 2,
Wherein the determining comprises:
Determining a first position corresponding to a position of the vehicle in the link at a first time point after a first time from a reference time point;
Determining a second position corresponding to a position of the vehicle on the link at a second time point after a second time from a reference time point; And
And determining a third position corresponding to a position of a point on the link located farthest from a line segment connecting the first position and the second position. 3. The method of claim 2,
Wherein the determining comprises:
Determining a first position corresponding to a position of the vehicle in the link at a first time point after a first time from a reference time point;
Determining a second position corresponding to a position of the vehicle on the link at a second time point after a second time from a reference time point; And
And determining a third position corresponding to a position of at least one point on the link located between the first position and the second position. The method according to claim 3 or 4,
Wherein the determining step comprises:
And creating a circumscribed circle comprising the first location, the second location and the third location. 6. The method of claim 5,
Wherein the determining step comprises:
And calculating a centrifugal force for the circumscribed circle using the radius of the generated circumscribed circle and the vehicle velocity at the reference point. 3. The method of claim 2,
Wherein the determining step comprises:
And comparing the calculated centrifugal force with a preset threshold value to determine a risk of the curve section in which the vehicle will travel. 8. The method of claim 7,
The predetermined threshold value may be a predetermined threshold value,
And a second threshold value serving as a criterion for determining a first risk level as a criterion of the first risk level and a second risk level having a higher risk level than the first risk level. 9. The method of claim 8,
Providing a first curve section guidance indicating that the risk of the curve section to be driven by the vehicle is a first critical level when the calculated centrifugal force is greater than a first threshold value and less than a second threshold value; And
And providing a second curve section guidance indicating that the risk level of the curve section to be driven by the vehicle is a second critical level when the calculated centrifugal force is greater than a second threshold value . 9. The method of claim 8,
Wherein the acquiring comprises:
Acquiring link information and link attribute information corresponding to the road on which the vehicle travels from the map data,
The link attribute information includes at least one of an identifier of the road, a starting point and an ending point of the vehicle traveling direction reference link, a road number, a road name, a road length, road class information, road width information, road lane number information, Wherein the curve guiding method comprises: 11. The method of claim 10,
Calculating a weight for adjusting the first threshold value and the second threshold value based on the link attribute information; And
And adjusting the first threshold value and the second threshold value based on the calculated weight value. 12. The method of claim 11,
The weighting value,
Wherein the curve information is variable according to the link attribute information. In the curve guide apparatus,
A link information obtaining unit that obtains link information corresponding to a road on which the vehicle travels;
A speed sensing unit for sensing a speed of the vehicle;
A link position determination unit for determining a position of the vehicle in the link at a future time point from a reference time point based on the obtained link information; And
And a controller for determining a risk of a curve section in which the vehicle will travel after a predetermined time using the determined position and a vehicle speed at a reference time point which is a current position of the vehicle. 14. The method of claim 13,
The link position determination unit may determine,
Determining a position in a link of the vehicle at each of a plurality of future time points,
Wherein,
A centrifugal force calculation unit for calculating a centrifugal force acting on the vehicle in the curve section using the determined plurality of positions and the vehicle speed at the reference time point; And
And a risk judging unit for judging a risk of the curve section on the basis of the calculated centrifugal force. 15. The method of claim 14,
The link position determination unit may determine,
A first link position determining unit for determining a first position corresponding to a position of the vehicle on the link at a first time point after a first time from a reference time point;
A second link position determining unit for determining a second position corresponding to a position of the vehicle on the link at a second time point after a second time from a reference time point; And
And a third link position determining unit for determining a third position corresponding to a position of a point on the link located farthest from a line segment connecting the first position and the second position. 15. The method of claim 14,
A first link position determining unit for determining a first position corresponding to a position of the vehicle on the link at a first time point after a first time from a reference time point;
A second link position determining unit for determining a second position corresponding to a position of the vehicle on the link at a second time point after a second time from a reference time point; And
And a third link position determining unit for determining a third position corresponding to a position of at least one point on the link located between the first position and the second position. 17. The method according to claim 15 or 16,
Wherein,
And a circumscribed circle generator for generating a circumscribed circle including the first position, the second position, and the third position. 18. The method of claim 17,
The centrifugal force calculation unit calculates,
And calculates the centrifugal force for the circumscribed circle using the radius of the generated circumscribed circle and the vehicle speed at the reference point. 15. The method of claim 14,
The risk-
And compares the calculated centrifugal force with a preset threshold value to determine the risk of the curve section to be driven by the vehicle. 20. The method of claim 19,
The predetermined threshold value may be a predetermined threshold value,
And a second threshold value serving as a criterion for determining a first critical value as a criterion of the first critical level and a second critical level having a higher risk than the first critical level. 21. The method of claim 20,
Wherein,
A first curve section guidance generating section that generates a first curve section guide indicating that the risk level of the curve section to be driven by the vehicle is a first danger level when the calculated centrifugal force is greater than a first threshold value and smaller than a second threshold value, And generating a second curve section guide indicating that the risk level of the curve section to be driven by the vehicle is a second critical level, when the curve section is greater than the second threshold value. 21. The method of claim 20,
The link information obtaining unit obtains,
Acquiring link information and link attribute information corresponding to the road on which the vehicle travels from the map data,
The link attribute information includes at least one of an identifier of the road, a starting point and an ending point of the vehicle traveling direction reference link, a road number, a road name, a road length, road class information, road width information, road lane number information, Wherein the curve guide device comprises: 23. The method of claim 22,
Wherein,
Calculating a weight for adjusting the first threshold value and the second threshold value based on the link attribute information, and calculating a weight value for adjusting the first threshold value and the second threshold value based on the calculated weight value Wherein the curve guide device further comprises: 24. The method of claim 23,
The weight calculation unit may calculate,
And changes the weight according to the link attribute information. 17. The method according to claim 15 or 16,
Wherein the first positioning portion comprises:
Wherein when the vehicle enters the curve section, the first time is shortened to determine the first position. In an electronic device,
An output unit for outputting information for guidance;
A link information obtaining unit that obtains link information corresponding to a road on which the vehicle travels;
A link position determining unit for determining a position of the vehicle in the link at a future time point; And
And a control unit for controlling the output unit to determine a risk of a curve section in which the vehicle will travel after a predetermined time and to output a curve section guide corresponding to the determination result using the vehicle speed at the determined position and the reference time point &Lt; / RTI &gt; 27. The method of claim 26,
Wherein,
Determining a risk of a curve section at a plurality of levels,
Controlling the output section to output the first curve section guidance when the risk level of the curve section to be driven by the vehicle is at a first danger level,
And controls the output section to output a second curve section guidance when the risk level of the curve section to be driven by the vehicle is a second critical level. 27. The method of claim 26,
Wherein the output unit includes a display unit for displaying a screen,
The display unit includes:
And the curve guide object is positioned and displayed in a predetermined area of the augmented reality screen. In the curve guiding method,
Measuring a current position and a current movement speed of the electronic device using the received GPS signal;
Determining at least three points to be located at a future point in time according to the measured current traveling speed from a link corresponding to a road located in the moving direction from the current position;
Calculating a radius of a circumscribed circle passing through the location of the determined points;
Calculating a centrifugal force when moving the circumscribed circle image using the calculated radius and the measured current movement velocity;
Comparing the calculated centrifugal force with a predetermined threshold value; And
And outputting a guide to the user about the risk of moving the curve road located on the forward section to the current moving speed according to the comparison result. 30. The method of claim 29,
The threshold value may be set to &
Wherein the curve information is variable according to link attribute information corresponding to a road on the front section. 31. The method of claim 30,
The link attribute information may include:
At least one of an identifier of the road, a starting point and an ending point of the vehicle traveling direction reference link, a road number, a road name, a road length, road class information, road width information, road lane number information, . 31. The method of claim 30,
The predetermined threshold value may be set to a predetermined value,
Which is an experimental value for notifying the risk of overturning of the curve section when passing through the curve section, and a second threshold value, which is an experimental value for informing the risk of overturning of the vehicle passing the curve section, Lt; / RTI &gt;
Wherein the outputting step comprises:
And if the centrifugal force is larger than the first threshold value and smaller than the second threshold value, displaying a warning guide, and if the centrifugal force is larger than the second threshold value, displaying a warning guide . A speed sensing unit for measuring a current position and a current movement speed of the electronic device using the received GPS signal;
A link position determining unit for determining at least three points to be positioned according to the measured current traveling speed from a link corresponding to a road located on a forward section in the moving direction from the current position; And
Calculating a radius of a circumscribed circle passing through a position of the determined points, calculating a centrifugal force when the circumscribed circle is moved using the calculated radius and the measured current moving speed, and comparing the calculated centrifugal force with a predetermined threshold And a controller for outputting a guide to the user about the risk of moving the curve road located on the forward section to the current movement speed according to the comparison result. 34. The method of claim 33,
Wherein the threshold value is variable according to link attribute information corresponding to a road on the front section. 35. The method of claim 34,
The link attribute information may include:
A road number, a road name, a road length, a road class information, a road width information, a road lane number information, and a road slope information among at least an identifier of the road located on the front section, a starting point and an end point of the vehicle traveling reference link, Wherein the curve guiding device comprises: 35. The method of claim 34,
The predetermined threshold value may be set to a predetermined value,
Which is an experimental value for notifying the risk of overturning of the curve section when passing through the curve section, and a second threshold value, which is an experimental value for informing the risk of overturning of the vehicle passing the curve section, Lt; / RTI &gt;
Wherein,
Wherein if the centrifugal force is larger than the first threshold value and smaller than the second threshold value, the warning guidance is displayed, and if the centrifugal force is larger than the second threshold value, the warning guidance is displayed. Obtaining link information for at least two links corresponding to a road on which the vehicle is to be driven;
Determining at least two future location points on the links located in the traveling direction from the location of the vehicle currently in motion using the obtained link information; And
And determining the risk of the curve section using the determined at least two points and the running speed information of the vehicle. 39. The method of claim 37,
Determining a point on a link located farthest from a line segment connecting the at least two future position points;
Generating a circumscribed circle containing the determined points; And
And calculating a risk of the curve section using the radius of the circumscribed circle and the traveling speed information. 39. The method of claim 38,
The step of calculating the risk includes:
Calculating a centrifugal force of the curve section using the radius of the circumscribed circle and the traveling speed; And
And comparing the calculated centrifugal force with a preset threshold value to provide the user with a degree of risk with respect to the curve section. 39. The method of claim 37,
Determining a third point that is a point on a link located furthest from a line segment connecting the at least two future position points;
Calculating an angle formed by a line segment connecting the determined third point and each of the at least two points; And
And comparing the calculated angle with a predetermined threshold value to provide the user with a degree of danger with respect to the curve section. A computer-readable recording medium on which a program for performing the curve guiding method according to any one of claims 1 to 12, 29 to 32, and 37 to 40 is recorded.

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