KR20190029192A - Automatic Driving control apparatus, vehicle having the same and method for controlling the same - Google Patents

Abstract

The present invention relates to an automatic driving control apparatus to guide moving information based on a recognized driving lane. According to the present invention, when an automatic driving mode and a destination are inputted through an input unit, the automatic driving control apparatus searches for a route based on the current location and the destination received through a communication unit, outputs navigation information based on the searched route, determines whether the current location is on an expressway, and performs automatic driving when the current location is on the expressway. When the current location is not received through the communication unit during automatic driving, the apparatus recognizes a sign from a road image, checks whether the location of a driving lane is a main or branch line of the expressway, checks marking information of the signs and an installation position of the sign in the route stored in a storage unit, and recognizes the marking information of the sign from the image. Moreover, the apparatus compares the marking information and the installation position of the signs in the route with the marking information of the sign of the recognized image to estimate the current location, determines execution of main or branch line driving based on the estimated current location, and maintains or cancels the automatic driving based on the position of the recognized driving lane, and whether the main or branch line driving is performed.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic driving control apparatus, a vehicle having the automatic driving control apparatus,

The present invention relates to an autonomous running control apparatus for recognizing a current position, a vehicle having the same, and a control method therefor.

The vehicle is a machine that drives the road by driving the wheels. The vehicle is equipped with various devices for protecting the occupant, assisting the driver and improving the ride quality.

In addition to basic driving functions, the car performs additional functions for user convenience such as audio function, video function, navigation function, air conditioning control, seat control and lighting control.

Such vehicles may be provided with an AVN device incorporating navigation, audio and video functions.

The vehicle also communicates with an audio function, a video function, a navigation function, a map function, a telephone function, a radio function, a broadcast function, a text message service function, and an Internet function enabled terminal.

Here, the navigation mode for performing the navigation function receives position information from satellites through a plurality of global positioning systems (hereinafter, referred to as "GPS"), calculates the current position of the vehicle, Map matching is performed on the map, the destination is input from the user, the route is searched from the current position calculated according to the predetermined route search algorithm to the destination, and the searched route is displayed on the map, It guides the user to the destination along the route.

The vehicle performs autonomous driving using the navigation function.

The vehicle can not accurately receive its position due to the inability to receive the GPS signal when the navigation mode or the autonomous driving mode is performed.

One aspect of the present invention provides an autonomous drive control device for recognizing a drive lane using position information of a sign in a road image and guiding the movement information based on the recognized drive lane, a vehicle having the autonomous drive control device, and a control method thereof.

And the other aspect provides an autonomous drive control device for recognizing a drive lane on the basis of at least one of the description information of a sign, the curvature of a road lane and the type of a lane, a vehicle having the autonomous drive control device, and a control method thereof.

An autonomous drive control apparatus according to an aspect of the present invention includes: a communication unit for receiving a road image, detection information of an obstacle, and a current position; And if the current position received is a highway, performs an autonomous driving mode. If the current position is not received during the execution of the autonomous driving mode, the controller recognizes the sign on the road image and maintains and releases the autonomous driving mode based on the position of the signboard in the image As shown in FIG.

The controller of the autonomous drive control device obtains the vanishing point from the road image and recognizes that the car is the main line if the position of the signboard in the image is right on the basis of the position of the vanishing point obtained and if the position of the sign in the image is left, And includes recognizing a branch line.

The autonomous drive control apparatus further includes a storage section for storing the map information, the name, the location, the type, and the route number of the road in the map, and storing the installation position of the road sign and the notation information of the sign, Recognizes the marking information of the signs in the route to the destination and the installation location of the signs based on the information stored in the storage unit, recognizes the marking information of the signs in the image, and displays the marking information, installation location, The present position is predicted by comparing the notation information of the signboard, and it is judged whether or not the main line travel or the branch line travel is performed based on the predicted present position.

The control unit of the autonomous-running control apparatus includes releasing the autonomous-traveling mode when it is determined that the branch-line-travel should be performed, and maintaining the autonomous-traveling mode when it is determined that the main-line travel should be performed.

The control unit of the autonomous-drive control unit includes a determination unit that determines whether the vehicle is traveling on a bifurcated route and recognizes that the vehicle is on a main road, and releases the autonomous mode when it is recognized that the bifurcated vehicle should be executed.

The control unit of the autonomous drive control device determines whether the main road is traveling on the main road if it is judged that the self road is a branch road, and controls the traveling direction to move to the main road if it is determined that the main road should be traveled.

In the autonomous drive control apparatus, the control unit recognizes the route number of the road among the notation information of the sign in the image, and compares the recognized route number with the route number in the route to determine whether the self lane is a main line or a branch line.

The control unit of the autonomous drive control device generates X and Y axes based on the obtained vanishing point and generates coordinate values of the vertexes of the sign based on the obtained vanishing point, pixels of the image of the X and Y axes and the road, And recognizing the position of the signboard in the image based on the coordinate values.

The autonomous-travel control apparatus further includes a display unit for displaying execution information of the autonomous-traveling mode and displaying the release information of the autonomous-traveling mode when the autonomous-traveling mode is released.

An autonomous drive control apparatus includes an image acquisition unit for acquiring an image of a road; And a distance detection unit for detecting a distance between the obstacle and the obstacle of the road.

The control unit of the autonomous drive control device confirms the signboard closest to the child vehicle among the signboards in the image, recognizes the route number of the road among the identification information of the identified signboard, Whether it is a main line or a branch line.

The control unit of the autonomous drive control device recognizes the lane of the road in the image, determines the curvature of the lane on the basis of the recognized lane, and recognizes whether the lane is the main line or the branch line of the highway based on the determined curvature .

The control unit of the autonomous drive control device recognizes the lane of the road in the image, confirms the type of the recognized lane, and recognizes whether the self lane is the main line or the branch line of the highway based on the type of the checked lane.

The vehicle according to another aspect includes: a communication unit for receiving a current location; An image acquiring unit acquiring an image of a road; A distance detecting unit for detecting a distance to another vehicle traveling on a road; Determines whether the current position is the highway based on the received current position, recognizes the lane on the road image if the current position is the highway, and determines the lane on the basis of the route to the destination, the received current position, An autonomous drive control device for controlling the autonomous drive and recognizing the sign on the road image when the current position is not received during the autonomous drive and controlling the autonomous drive and release of the autonomous drive based on the position of the recognized sign in the image .

The autonomous vehicle control system of the vehicle obtains the vanishing point from the road image and recognizes that the vehicle is on the right side if the position of the signboard in the image is on the basis of the position of the vanishing point obtained and if the position of the signboard in the image is on the left side, And includes recognizing a branch line.

The autonomous vehicle control system of the vehicle confirms the mark information of the in-route signs and the installation position of the mark, recognizes the notation information of the mark in the image, and displays the notation information of the in-path signs, the installation position, Comparing the information to predict the current position, and determining whether to perform the main-line running or the branch-line running based on the predicted current position.

The autonomous-vehicle control apparatus of the vehicle determines whether or not the vehicle is traveling on a bifurcated route when it is recognized that the vehicle is on the main road, and when it is determined that the bifurcated vehicle should be traveled, the control unit controls the display unit to release the autonomous- .

The autonomous-vehicle control device of the vehicle includes a control unit for determining whether the vehicle is traveling on a main road if the sub-train is recognized as a branch line, and controlling the traveling direction to be moved to the main line when it is determined that the main-

The autonomous-vehicle control device of the vehicle recognizes the route number of the road among the notation information of the signs in the image, recognizes the lane in the image, confirms the type of the recognized lane, and judges the curvature of the lane on the basis of the recognized lane And re-recognizing whether the sub lane is a main line or a branch line based on at least one of the route number of the recognized road, the type of the lane, and the curvature of the sub lane.

According to another aspect of the present invention, there is provided a control method for a vehicle, the method comprising: searching a route based on a current location and a destination received by a communication unit when an autonomous mode and a destination are inputted through an input unit, If the current position is the highway, then the autonomous running is performed. If the current position is not received through the communication unit during the autonomous running, the sign is recognized in the image of the road, Based on the position of the signboard, it is recognized whether the position of the vehicle is the main line or the branch line of the highway, the marking information of the in-route signs stored in the storage unit and the installation position of the signboard are recognized, , The notation information of the in-route signs, the installation position, and the notation information of the recognized in- Estimates the repositioning, judges whether or not to perform the main road running or the branch line running based on the predicted present position, and controls the maintenance or release of the autonomous running based on the recognized position of the sub lane,

The control for maintaining or releasing the autonomous drive is determined by judging whether or not the sub train is traveling on the main road. If it is determined that the sub train should be performed, the autonomous drive mode is canceled and the release information of the autonomous drive mode is displayed on the display If the lane is recognized as a branch line, it is determined whether or not the main line is traveling, and if it is determined that the main line should be traveled, the traveling direction is controlled to be moved to the main line and the self-traveling is maintained.

The control method of the vehicle further includes recognizing the route number of the road among the notation information of the sign in the image if the position of the sign in the image is not recognized and recognizing the position of the vehicle on the basis of the recognized route number.

The control method of the vehicle recognizes the lane in the image, identifies the type of the recognized lane, determines the curvature of the lane on the basis of the recognized lane, and determines the curvature based on at least one of the type of lane and the curvature of the lane It also includes re-recognizing whether the lane is the main line or the branch line.

The present invention recognizes the driving lane by recognizing the position of the signboard in the road image even if the reception of the GPS signal is not good when the highway autonomously travels, thereby accurately recognizing the driving lane on the highway.

That is, the present invention can accurately recognize whether the driving lane is the main line or the branch line of the IC / JC when the highway autonomously travels, and can accurately determine whether the IC / JC is entered when the IC / JC is to be entered. It is possible to increase the usability of the autonomous driving on the expressway, and thereby to autonomously drive the vehicle freely on the expressway.

Further, the present invention can accurately determine when to release the autonomous driving mode using Highway Driving Assist (HDA), thereby improving the malfunction of the autonomous driving.

Further, according to the present invention, it is possible to recognize the driving lane on the basis of the line number of the road, the lane type, and the curvature information of the lane, which is the notational information of the sign when recognizing the driving lane, thereby improving the performance of the autonomous driving mode and the navigation mode have.

As described above, the present invention can improve the quality and merchantability of a vehicle or a terminal that performs a navigation mode and an autonomous driving mode, increase the satisfaction of a user, and secure competitiveness of a product.

1 is an external view of a vehicle provided with an autonomous-running control apparatus according to an embodiment.
2 is an internal view of a vehicle provided with an autonomous-running control apparatus according to an embodiment.
3 is a control configuration diagram of a vehicle provided with an autonomous-running control apparatus according to an embodiment.
4 is a control flowchart of a vehicle provided with an autonomous-running control apparatus according to an embodiment.
FIG. 5 is a view for explaining a positional recognition of a signboard in an image obtained in a vehicle according to an embodiment.
6A and 6B are illustrations of images obtained at the main line position and the branch line position of the vehicle according to the embodiment.
7 is an exemplary view of notation information of a sign in an image obtained in a vehicle according to an embodiment.
8 is an exemplary view of a road when the vehicle according to the embodiment is the main line position.
9 is an exemplary view of a road when the vehicle according to the embodiment is at the branch line position.
FIG. 10 is a control configuration diagram of a terminal according to another embodiment.

Like reference numerals in the drawings denote like elements throughout the specification. The description does not describe all the elements of the embodiments, and redundant descriptions are omitted from the general contents or embodiments in the technical field to which the present invention belongs. The term " part " used in the specification may be embodied in software or hardware.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only the case directly connected but also the case where the connection is indirectly connected, and the indirect connection includes connection through the wireless communication network do.

Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

The singular forms " a " include plural referents unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of explanation, and the identification code does not describe the order of the steps, and each step may be performed differently from the stated order unless clearly specified in the context. have.

Hereinafter, the working principle and embodiments of the present invention will be described with reference to the accompanying drawings.

Fig. 1 is an external view of a vehicle provided with an autonomous-running control apparatus according to an embodiment of the present invention. Fig. 2 is an internal view of a vehicle provided with an autonomous-running control apparatus according to an embodiment.

The vehicle 1 includes a body having a built-in and an exterior, and a chassis provided with a mechanical device necessary for traveling to the rest except for the vehicle body.

1, the exterior 110 of the vehicle body includes a front panel 111, a bonnet 112, a roof panel 113, a rear panel 114, a trunk 115, front and rear right and left doors 116, And a window glass 117 provided on the left and right doors 116 so as to be openable and closable.

The exterior of the vehicle body includes a filler 118 provided at the boundary between the front panel, the bonnet, the roof panel, the rear panel, the trunk, the window glass of the front and rear doors, and the side mirror 119).

2, the interior body 120 of the vehicle body includes a seat 121 on which an occupant sits, a dashboard 122, and a tachometer 120. The tachometer 120 includes a tachometer, a speedometer, a coolant thermometer, a fuel meter, (I.e., a cluster 123) in which a door open warning lamp, an engine oil warning lamp, and a fuel shortage warning lamp are arranged, and an air conditioner And a center fascia 124 in which an audio device is disposed.

The cluster 123 may further include a display unit 123a for displaying driving information and failure information of the vehicle. Here, the travel information may include fuel mileage information, travelable distance information, total mileage information, and travel mode, and the failure information may include tire air pressure abnormality information and the like.

The center fascia 124 may include a head unit 125 for controlling audio equipment, an air conditioner and a heater, and a multi terminal 126. [

The multi terminal 126 may be disposed adjacent to the head unit 125, and may include a USB port and an AUX terminal, and may further include an SD slot.

The multi terminal 126 is also capable of communicating with the user terminal via the USB port. Here, the user terminal is a device capable of moving and communicating, and may include a smart phone, a notebook, a tablet, and a wearable device.

The vehicle 1 may further include an input unit 127 for receiving operation commands of various functions.

The input unit 127 may be provided in the head unit 125 and the center pacea 124 and may include at least one physical button such as an operation on-off button for various functions, a button for changing setting values of various functions do.

The input unit 127 may include a touch panel integrally provided on a display unit of the vehicle terminal 130. The input unit 127 receives the position information of the button displayed on the display unit of the terminal 130.

The input unit 127 may further include a jog dial or a touch pad for inputting a movement command and a selection command of a cursor displayed on the display unit of the vehicle terminal 130.

Here, the jog dial or the touch pad may be provided in a center fascia or the like.

The vehicle 1 may be provided in the head unit, and may further include a display unit 128 for displaying information on functions performed in the vehicle and information input by the user.

The display unit 128 may be a plasma display panel (PDP), a liquid crystal display (LCD) panel, an electroluminescence (EL) panel, an electrophoretic display (EPD) panel, But are not limited to, an electrochromic display (ECD) panel, a light emitting diode (LED) panel, or an organic light emitting diode (OLED) panel.

The vehicle may further include a vehicle terminal 130 that receives information on the audio function, the video function, the DMB function, the radio function, the navigation mode, and the autonomous driving mode, and displays the information being performed.

The vehicle terminal 130 can display an image in the front, rear, left, and right directions in the autonomous running mode, and display the map accuracy and the guidance information in cooperation with the navigation mode.

The on-vehicle terminal 130 may be disposed on a dashboard or may be embedded in a center fascia.

The display unit of the terminal 130 may display information about the function being performed and information input by the user.

The vehicle 1 is provided with a shift lever which is provided in the center pedestal 124 and receives an operation position and a parking button which is located in the vicinity of the shift lever or in the head unit 125 and receives an operation command of an electronic parking brake device (EPB button).

The vehicle 1 includes a steering wheel 141 of the steering device for adjusting the direction of travel, a brake pedal 142 that is pressed by the user in accordance with the braking will of the user, And an accelerator pedal 143 (see Fig. 2).

The steering wheel 141 is a device for adjusting the running direction of the vehicle 1 and includes a rim held by the driver and a spoke connecting the steering wheel of the vehicle 1 and a hub of a rotary shaft for steering the rim .

In addition, the spoke may be provided with an operating device (not shown) for controlling various devices in the vehicle 1, for example, audio equipment and the like, and for setting the running speed in the autonomous running mode.

The vehicle further includes a power unit, a steering unit for changing the running direction of the vehicle, a braking unit for generating the braking force of the vehicle, a suspension unit for adjusting the damping of the vehicle, a transmission, and a fuel device. Here, the power unit may include a power generator for generating power and a power transmission unit for transmitting the generated power to the wheels.

3 is a control configuration of a vehicle provided with an autonomous-running control apparatus according to the embodiment. The vehicle 1 includes a terminal 130, an image acquisition unit 150, a detection unit 160, and an autonomous- do.

The terminal 130 receives information on an audio function, a video function, a DMB function, a radio function, a navigation mode, and an autonomous running mode, and displays operation information on the function or mode being performed.

The autonomous mode of this embodiment includes an autonomous mode having a Highway Driving Assist (HDA) that allows the vehicle to automatically run only when the position of the vehicle is a highway.

When the mobile terminal 130 is in the autonomous mode, the mobile terminal 130 receives the operation information and the operation command of the autonomous mode and the navigation mode, and displays the operation information of the autonomous mode and the navigation mode.

That is, if the driving mode is the autonomous driving mode, the terminal 130 can display the images in the front, rear, left, and right directions, and display the map accuracy and the guidance information in cooperation with the navigation mode.

The terminal 130 may include an input unit 131 and a display unit 132. The input unit of the terminal 130 may be a touch panel, and the display unit may be a display panel.

The terminal 130 may be provided with a touch screen in which a touch panel and a display panel are integrated.

In addition, the terminal 130 may include only a display panel, which is a display unit, and may receive operation information and an operation command through the input unit 127 at this time.

The input unit 131 of the terminal receives the autonomous mode. In addition, the input unit 131 of the terminal can receive the manual driving mode in which the driver operates based on the operation information of the driver.

The input unit 131 of the terminal may receive the navigation mode and the destination.

The display unit 132 of the terminal may display the map information and display the map information and the route guidance information matched with the route.

The display unit 132 of the terminal may display the information of the recognized signboard and display the image of the road obtained through the image acquisition unit.

The display unit 132 of the terminal may display the information of the HAD release for the execution of the HDA and the release of the autonomous driving mode for the autonomous traveling mode execution.

The terminal 130 may include a controller 172 for performing a navigation mode and an autonomous mode.

In addition, the terminal 130 may communicate with the controller 172 for performing the navigation mode and the autonomous mode, and may perform the display operation based on the control command of the controller 172 received through the communication .

The image acquisition unit 150 acquires an image of the road, and transmits the acquired image to the control unit 172. Here, the image of the road may be the image of the road in the forward direction with respect to the running direction of the subject vehicle.

The image acquiring unit 150 may include a CCD or a CMOS image sensor as a camera.

The image acquiring unit 150 may be provided in a window glass on the front side, or may be provided in a window glass inside the vehicle, or may be provided in a room mirror inside the vehicle, or may be provided with a roof panel 113, (See Fig. 1).

The detection unit 160 detects road information for autonomous driving and driving information for recognizing the position of the child vehicle.

The road information includes the positions of other vehicles running on the road and the positions of other vehicles parked, and the positions of obstacles such as other roads. Where the location may include distance and direction.

The running information of the vehicle may include information on the running distance, the running speed, and the running direction of the vehicle.

The detection unit 160 includes a plurality of distance detection units 161 that detect distances from other vehicles and obstacles in the vicinity. The plurality of distance detecting units 161 may be provided on the front, rear, right, and left sides of the exterior of the vehicle, respectively (see Fig. 1).

The distance detecting unit 161 includes a rider sensor.

LiDAR (Light Detection And Ranging) sensor is a non-contact type distance detection sensor using the principle of laser radar.

The laser sensor may include a transmitter for transmitting a laser, and a receiver for receiving a laser reflected on the surface of an object existing within the sensor range.

Where the laser may be a single laser pulse.

The distance detecting unit 161 may include an ultrasonic sensor or a radar sensor.

The ultrasonic sensor generates the ultrasonic wave for a certain time and then detects the signal reflected from the object.

Ultrasonic sensors can be used to determine the presence of obstacles such as pedestrians within a short range.

A radar sensor is a device that detects the position of an object by using reflected waves generated by the emission of radio waves when transmitting and receiving are performed in the same place.

Such a radar sensor may use a Doppler effect or change the frequency of the transmission radio wave in time or output a pulse wave as a transmission radio wave in order to prevent the transmitted radio wave and the received radio wave from being overlapped and difficult to be distinguished.

For reference, the Lada sensor has a higher detection accuracy in the lateral direction than the RaDAR (Radio Detecting And Ranging) sensor, so it can improve the accuracy of determining whether there is a passage in front.

The detection unit 160 includes an angular velocity detection unit 162 for detecting the angular velocity of the steering wheel for detecting the steering angle of the vehicle, a velocity detection unit 163 for detecting the velocity of the vehicle, It is also possible to further include at least one of the detection section 164 and the acceleration detection section 165 for detecting the acceleration of the vehicle.

Here, the running speed of the subject vehicle may be the speed of the vehicle body.

The speed detector 163 may be a wheel speed sensor provided on front, rear, left, and right wheels, or an acceleration sensor for detecting the acceleration of the vehicle.

The vehicle may further include an illuminance detector 166 for detecting the external illuminance.

The autonomous drive control device 170 controls the autonomous running of the vehicle based on the input information of the input portion, the image of the image obtaining portion 150, and the detection information of the detecting portion 160.

The autonomous-travel control device 170 performs autonomous travel when the current position of the vehicle is a highway, and releases the autonomous-traveling mode when it has to travel from the highway to another road.

The autonomous-running control device 170 includes a communication unit 171, a control unit 172, a storage unit 173, and a driving unit 174.

The communication unit 171 is connected to the image acquisition unit 150, the detection unit 160 and the control unit 172. The communication unit 171 controls the image information obtained by the image acquisition unit 150 and the detection information detected by the detection unit 160, (172).

The communication unit 171 may include at least one of a short-range communication module, a wired communication module, and a wireless communication module. The communication unit 171 may include at least one component that enables communication with an external device.

The short-range communication module uses a wireless communication network, such as a Bluetooth module, an infrared communication module, an RFID (Radio Frequency Identification) communication module, a WLAN (Wireless Local Access Network) communication module, an NFC communication module, and a Zigbee communication module, And may include various short range communication modules for transmitting and receiving.

The wired communication module may be a wired communication module such as a CAN (Controller Area Network) communication module, a local area network (LAN) module, a wide area network (WAN) module, or a value added network Communication module, various cable communication such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard232), power line communication or POTS Modules.

In addition to the Wifi module and the wireless broadband module, the wireless communication module may be a GSM (Global System for Mobile Communication), a CDMA (Code Division Multiple Access), a WCDMA (Wideband Code Division Multiple Access) ), Time Division Multiple Access (TDMA), Long Term Evolution (LTE), and the like.

The communication unit 171 may further include a GPS (Global Positioning System) receiver 171a for performing communication with a plurality of satellites.

The control unit 172 confirms the current position received by the GPS receiver 171a when the selection signal of the navigation mode selected through the input unit 131 of the terminal is received and confirms the selected destination through the input unit 131 of the terminal, Searches the route from the location to the destination and displays the searched route.

The control unit 172 activates the operations of the image acquisition unit 150, the detection unit 160 and the communication unit 171 when the selection signal of the selected autonomous driving mode is received through the input unit 131 of the terminal, .

That is, when it is determined that the vehicle enters the highway on the basis of the navigation mode, the controller 172 performs the autonomous driving mode using the highway driving assistance (HDA).

The control unit 172 may display an image in front, rear, left, and right directions of the subject vehicle obtained through the image obtaining unit during the execution of the autonomous driving mode, and may display the map information and the route guidance information that are matched with the route in cooperation with the navigation mode .

In addition, the vehicle can select a navigation mode through a button, a touch pad, or a jog dial provided in the center fascia, receive a destination, or select an autonomous driving mode.

The control unit 172 confirms the route and the current position received by the GPS receiver 171a in the navigation information, and controls the steering device, the braking device, and the power device to perform autonomous travel when the current position is determined as a highway.

Here, the navigation information includes map information, and further includes the name of the road in the map, the type of the road, and the route number of the road, and further includes the installation location where the notation information and the sign posted on the sign are installed.

The notation information of the sign may include direction, place name, route number of the road, notice distance, and the like.

If it is determined that the vehicle enters the highway, the control unit 172 controls to display information about HDA (Highway Driving Assist) performance through the display unit 123a of the cluster. If it is determined that the vehicle enters the highway, To be displayed.

The control unit 172 may display information on the execution of the Highway Driving Assist (HDA) and the release of the Highway Driving Assist (HDA) through text on the display unit 128 or the display unit 132 of the terminal.

That is, the control unit 172 may display the execution and release information of the autonomous running mode through the in-vehicle display unit.

The control unit 172 checks the signal reception state of the GPS receiver 171a when the autonomous driving mode is performed and if the signal reception state of the GPS receiver 171a is determined to be a normal state, The power device and the steering device are controlled based on the detection information of the vehicle, the vehicle, and the vehicle.

Here, the signal reception state of the GPS receiver 171a may include whether or not the position signal is received and the reception intensity.

More specifically, the control unit 172 may control to run at a preset traveling speed at the time of executing the autonomous traveling mode, or may control to travel at the traveling speed inputted by the user.

The control unit 172 confirms the position of the other vehicle traveling in the left and right direction lanes of the vehicle lane based on the distance information with respect to the obstacle among the detection information of the detection unit, . In addition, the control unit 172 adjusts the speed of the subject vehicle based on the distance of the identified other vehicle.

When the image information of the road is received during the autonomous driving mode, the controller 172 recognizes the lane on the road by performing image processing and recognizes the lane on which the vehicle runs based on the recognized lane position information.

The control unit 172 controls the running direction (i.e., steering) of the vehicle so that the lane is maintained or changed based on the distance to the other vehicle, the current position, the recognized lane, the recognized lane, and the detected route .

The control unit 172 controls the display unit to display the release information of the autonomous driving mode when it is determined that it should move to the interchange or the branch point based on the current position and the detected route received by the GPS receiver 171a during the autonomous traveling mode.

When the autonomous mode is released, the control unit 172 controls only the braking device and the power unit so that the speed of the vehicle is automatically adjusted. By controlling the steering device based on the steering information of the steering wheel operated by the driver, The direction of travel is adjusted.

In addition, the control unit 172 controls the power unit and the braking unit based on the operation information of the brake pedal operated by the driver and the operation information of the accelerator pedal when the autonomous running mode is released, so that the speed of the vehicle is adjusted, It is also possible to adjust the running direction of the vehicle by controlling the steering apparatus based on the steering information of the steering wheel operated by the driver.

When it is determined that the signal reception state of the GPS receiver is abnormal in the self-running mode, the control unit 172 performs image processing of the image of the road obtained through the image acquisition unit 150, recognizes the sign in the image, Based on the position of the identified signs, it is judged whether the lane of the vehicle is the main line on the expressway or the branch line of the interchange (IC) or the branch point (JC).

Here, the branch line is a line for advancing to the interchange (IC, interleaver) or the branch point (JC), and may be a line branched from the main line.

More specifically, the control unit 172 obtains the vanishing point in the obtained image, and confirms whether the position of the recognized signboard is the left or right on the basis of the obtained vanishing point. If the position of the sign is the left side, And if the position of the sign is on the right side, the position of the vehicle is recognized as the main line.

Here, the vanishing point in the image may be the vanishing point of the camera.

The control unit 172 can recognize whether the position of the vehicle is a branch line or a main line based on the position of the signboard in the obtained image and the position of the signboard of the searched route.

The control unit 172 compares the notation information of the recognized signboard with the notation information of the signboard of the searched route to determine whether to move to the branching line.

More specifically, the control unit 172 confirms the notation information of the signboard of the path corresponding to the notation information of the recognized signboard among the notation information of the signboard of the searched path, confirms the installation position of the signboard of the checked path, Based on the present position of the subject vehicle based on the predicted position of the subject vehicle based on the installation position of the vehicle, and determines whether the vehicle should be maintained on the main line or the branch line.

The control unit 172 confirms the notation information of the signboard of the path corresponding to the notation information of the recognized signboard among the notation information of the signboard of the searched path and predicts the current position of the subject vehicle based on the notation information of the signboard of the confirmed path It is also possible to determine whether to keep the lane of the subject vehicle on the main line or to move to the branch line based on the predicted current position of the subject vehicle.

That is, the control unit 172 compares the notation information of the signboard in the searched path with the notation information of the signboard recognized by the image obtaining unit 150, and controls the lane of the subject vehicle to move to the main or branch line.

If it is determined that the vehicle should run on the main road, the control unit 172 controls the display unit to display the release information of the autonomous running mode through the in-vehicle display unit so as to move to the branch line, Allow the driver to operate manually.

The control unit 172 allows the vehicle to move through the autonomous running to the branching line when the vehicle is to be moved to the branching line while the vehicle is located on the main line and allows the driver to drive the vehicle after the movement to the branching line is completed.

The control unit 172 can output guidance information so that the driver moves to the branch line when the vehicle is to be moved to the branch line in a state where the vehicle is located on the main line.

Here, the guidance information can be output through a display unit provided in the vehicle or a speaker (not shown) provided in the vehicle.

The control unit 172 performs image processing of the image of the road obtained through the image acquisition unit 150 when it is determined that the signal reception state of the GPS receiver 171a is abnormal in the self-running mode, And recognizes the route number of the road among the notation information of the identified signboard, and determines whether the vehicle of the vehicle is the main line on the highway or the interchange (refer to FIG. 2) based on the recognized route number and the route number of the sign in the searched route IC) or a branch line of the branch point (JC).

If the illuminance detected by the illuminance detector 166 is lower than the reference illuminance, the control unit 172 may recognize the lane of the vehicle based on the route number of the road indicated on the sign.

That is, the controller 172 recognizes whether the sign is a sign by recognizing the background color of the signboard in the image and recognizing the color of the text. If the detected illuminance is less than the reference illuminance, the control unit 172 omits the recognition of the vertex of the sign, Recognizes the lane of the vehicle.

In addition, the control unit 172 recognizes whether the signboard is a signboard by recognizing the background color of the signboard in the image and recognizing the color of the letter. If the sign of the signboard is recognized, the control unit 172 recognizes the vertex of the signboard It is also possible to recognize the lane of the host vehicle.

The control unit 172 can recognize the lane of the vehicle based on the position of the vanishing point in the image and the position of the line number of the sign in the image.

If it is determined that the signal reception state of the GPS receiver is abnormal during the self-running mode, the control unit 172 identifies the signboard closest to the vehicle among the signboards of the road image obtained through the image acquisition unit 150, It is also possible to judge whether the lane of the vehicle of the vehicle is the main line on the expressway or the branch line of the interchange (IC) or the branch point (JC) based on the recognized place name and the name of the sign in the detected route It is possible.

The control unit 172 recognizes whether the sub lane is a main line or a branch line based on the position information of the signboard in the image, and corrects the position of the sub lane based on at least one of the curvature of the lane and the type of the lane.

More specifically, when the controller 172 determines that the signal reception state of the GPS receiver 171a is abnormal in the self-running mode, the controller 172 recognizes the lane of the road in the image obtained through the image acquisition unit 150, (IC) or a branch line (JC) of the branch point (JC) based on the determined curvature of the lane on the basis of the judged lane curvature, . ≪ / RTI >

That is, the controller 172 determines that the curvature of the sub-curvature is the main curvature if the curvature of the sub-curvature is greater than or equal to the reference curvature, and determines that the curvature is less than the reference curvature.

Also, the control unit 172 can determine the lane on which the curvature is largest among the lane between the left lane and the right lane on the main road, and determine that the lane on which the curvature is small is the lane.

The control unit 172 estimates the position of the searched route based on the notation information of the recognized sign and confirms the curvatures of the main road and the branch line corresponding to the present position in the searched route, And judges whether the lane of the vehicle is a main line on the highway or a branch line of an interchange (IC) or a branch point (JC) based on the curvature of the vehicle by the image recognition and the curvature of the main line and the branch line in the searched route It is also possible to do.

Based on the speed information detected by the speed detection unit 163 or the acceleration detection unit 165, the control unit 172 predicts the travel distance of the moving vehicle from the point of time when the signal reception state is abnormal, And it is also possible to predict the current position based on the searched route and check the curvature of the road at the predicted current position among the roads in the searched route.

The control unit 172 determines the last received position when the signal reception state of the GPS receiver is in the normal state, determines the steering angle based on the angular velocity detected by the angular velocity detecting unit 162, It is also possible to predict the curvature.

The control unit 172 checks the wheel speeds of the front, rear, left and right wheels detected by the speed detecting unit 163, determines the steering angle of the vehicle based on the difference between the detected front and rear left and right wheel speeds, It is also possible to predict.

The control unit 172 may determine the yaw moment of the vehicle based on the yaw rate detected by the yaw rate detection unit 164 and determine the curvature of the vehicle based on the determined yaw moment.

The control unit 172 can also predict the curvature of the sub lane based on the acceleration information detected by the acceleration detection unit 165. [

The control unit 172 recognizes the lane of the road in the image obtained through the image acquisition unit 150 when it is determined that the signal reception state of the GPS receiver 171a is abnormal in the self-running mode, Recognizes the lane of the vehicle and recognizes whether the type of the lane on both sides of the recognized lane is a dotted line or a solid line. Based on the recognized type of lane, the lane of the vehicle is the main line on the highway or the intersection (IC) It is also possible to judge whether it is a branch line.

That is, the control unit 172 determines that the position of the sub lane is the main line when the left lane of the sub lane is a dotted line or the right lane of the sub lane is a double line of a dotted line and a solid line.

If the left lane of the vehicle lane is a dotted line and the right lane is a solid line, it is determined that the position of the vehicle lane is the main line. If the left lane is a dotted line and the right lane is a double line of a dotted line and a solid line, It is also possible to do.

The control unit 172 can determine that the position of the sub lane is the main line when the right lane of the sub lane is a double line of a dotted line and a solid line.

The control unit 172 determines that the position of the sub lane is a branch line if both lanes of the sub lane are solid lines or the left lane of the sub lane is a double line of a dotted line and a solid line.

The control unit 172 recognizes both lanes of the own lane acquired through the image acquisition unit 150 when it is determined that the signal reception state of the GPS receiver is abnormal in the autonomous driving mode, It is possible to determine whether the position of the subject vehicle is the main line on the highway or the branch line of the interchange IC or the branch point JC based on the lane information of the road at the present position.

The control unit 172 generates a control command of the steering apparatus based on the steering information of the steering wheel, generates a control command of the braking device based on the pressing information of the brake pedal, and, based on the pressing information of the accelerator pedal, And transmits the generated control command to each device.

The controller 172 may be a CPU or an MCU, and may be a processor.

The control unit 172 includes a memory (not shown) for storing data on a program reproducing the algorithm or algorithm for controlling the operation of components in the vehicle, and a processor (not shown) for performing the above- Not shown). At this time, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented on a single chip.

The storage unit 173 stores the map information, the road name in the map, the road type, and the route number of the road, and stores the installation position of the road sign and the notation information of the sign.

The storage unit 173 further stores road information such as the curvature information of the lane on the map and the type of the lane.

The storage unit 173 may be a nonvolatile memory device such as a cache, a read only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM) (Random Access Memory), or a storage medium such as a hard disk drive (HDD) and a CD-ROM. However, the present invention is not limited thereto. The storage unit may be a memory implemented in a separate chip from the above-described processor in association with the control unit, and may be implemented as a single chip with the processor.

The driving unit 174 operates at least one of the braking device, the power device, and the steering device based on the control command of the control part 172. [

At least one component may be added or deleted corresponding to the performance of the components of the vehicle shown in Fig. It will be readily understood by those skilled in the art that the mutual position of the components can be changed corresponding to the performance or structure of the system.

Meanwhile, each of the components shown in FIG. 3 refers to hardware components such as software and / or a Field Programmable Gate Array (FPGA) and an Application Specific Integrated Circuit (ASIC).

Fig. 4 is a flowchart of a vehicle control method according to the embodiment, and will be described with reference to Figs. 5 to 9. Fig.

When the autonomous running mode is selected 201 through the input unit 127 provided in the center fascia or the input unit 131 of the terminal, the vehicle is interlocked with the navigation mode.

The vehicle confirms the current position received by the GPS receiver 171a and confirms the destination input through the input unit 127 or the input unit 131 of the terminal and provides a route from the current position to the destination Searches for a route, and maps the searched route to a map and displays the route through the display unit 132 of the terminal.

The vehicle determines whether it has entered the highway on the basis of the map information and the confirmed current position. If it is determined that the vehicle has entered the highway, the display unit 123a of the cluster, the display unit 128 provided in the head unit, And performs an autonomous driving mode 204 using a highway driving assistance (HDA) function.

The vehicle determines whether the signal reception state of the GPS receiver is in the normal state or the abnormal state during the self-running mode.

That is, the vehicle determines (205) whether a signal for the current position is normally received through the GPS receiver 171a.

Determining whether the position signal has been normally received here includes determining whether the position signal has been normally received based on whether or not the signal is received by the GPS receiver 171a and the signal strength.

The vehicle confirms the current position received at the GPS receiver when it is determined that the position signal has been received normally by the GPS receiver, and controls the autonomous travel based on the detected current position and the detected route.

More specifically, the vehicle may be controlled to run at a preset running speed while the autonomous running mode is being executed, or may be controlled to run at the running speed input by the user.

When the image of the road obtained by the image obtaining unit is received during the self-running mode, the vehicle performs image processing to recognize the lane on the road, travels on the lane based on the recognized lane, Based on the distance information of the obstacle detected based on the distance information of the other vehicle, the position of the other vehicle in the front, rear, left, and right directions of the vehicle, Carry out autonomous driving while adjusting the speed of the vehicle.

The vehicle performs autonomous driving while maintaining or changing the own lane based on the distance to the other vehicle, the identified current position, the recognized lane, the recognized lane, and the searched route during the self-running mode.

The vehicle can display an image of the vehicle in the front, back, left, and right directions on the display unit of the terminal during the execution of the autonomous running mode, and display the degree of guidance and the route guidance information on the display unit.

Then, the vehicle confirms the current position during execution of the autonomous driving mode (206), determines (215) whether to move to the branch line based on the identified current position and the detected route, and releases the autonomous driving mode The releasing information of the autonomous mode is displayed on the display unit (216).

The vehicle automatically adjusts the traveling speed by controlling only the braking device and the power device when the autonomous running mode is released and controls the steering device based on the steering information of the steering wheel 141 operated by the driver, .

Further, the vehicle adjusts the traveling speed by controlling the power unit and the braking unit based on the operation information of the brake pedal 142 operated by the driver and the operation information of the accelerator pedal 143 when the autonomous running mode is released, It is also possible to change the traveling direction of the vehicle by controlling the steering apparatus based on the steering information of the steering wheel 141 operated by the driver.

When the vehicle is judged that the position signal is not normally received (that is, the abnormal state is determined) in the GPS receiver 171a during the autonomous traveling mode, the vehicle performs image processing of the road image obtained through the image obtaining unit 150, The sign (207) is recognized.

Recognizing the signs here involves recognizing the signs in the facilities of the road by recognizing the background color (green) of the sign and the letter color (white) of the sign.

The vehicle confirms the position of the signboard in the image (208) and determines whether the position of the vehicle is the main line on the highway or the branch line of the interchange (IC) or the branch point (JC) based on the position of the identified signboard.

Here, the branch line is a line for advancing to the interchange (IC, interleaver) or the branch point (JC), and may be a line branched from the main line.

5, the vehicle obtains the vanishing point P in the acquired image Im, sets the horizontal axis as the X axis and the vertical axis as the Y axis on the basis of the obtained vanishing point P, (0, 0), and it is confirmed whether the position of the sign recognized on the basis of the obtained vanishing point (P) is on the left or right side. If the position of the sign is on the right side, The left side of the vehicle is recognized as a branch line.

Here, the vanishing point in the image may be the vanishing point of the camera.

The vehicle recognizes the vertices of the plurality of signs, generates coordinate values of the vertices of the plurality of signs based on the set X and Y axes and the vanishing point, selects at least one coordinate value of the generated coordinate values, It is also possible to recognize the lane of the host vehicle based on the X-axis value among the values.

The X-axis and Y-axis coordinate values can be set based on the number of pixels of the image from the pixel of the vanishing point to the vertex of the sign.

In addition, the vehicle confirms the sign nearest to the vehicle based on the generated coordinate values, selects the closest signpost identified, and confirms the coordinates of the vertex of the selected signpost. The four vertexes (X1, Y1) It is also possible to check the position of the sign from the X value of any one of (X1, Y2), (X2, Y1), (X2, Y2)

That is, the vehicle can determine whether the position of the sign is on the left or right depending on whether the X value is negative or positive.

As shown in FIG. 6A, the vanishing point P in the image is acquired, and the sign 2a closest to the vehicle is selected from among the signs in the image, and the X axis coordinate values of the selected sign 2a are set to positive (That is, if it is a positive number), it is determined that the position of the signboard in the image is on the right side, and the lane of the subject vehicle is recognized as the main line.

As shown in FIG. 6B, the vanishing point P in the image is obtained, and the signboard 2b closest to the vehicle is selected from among the signs in the image, and the X axis coordinate values of the selected signboard 2b (I.e., negative), it is determined that the position of the signboard 2b in the image is on the left side, and the lane of the host vehicle is recognized as a branch line.

The vehicle identifies the signboard closest to the vehicle in the image, recognizes the route number of the road among the notation information of the identified sign, and identifies the vehicle based on the recognized route number and the route number of the sign in the detected route It is also possible to determine whether the position is the main line on the highway or the branch line of the interchange (IC) or the branch point (JC).

As shown in Fig. 7, when it is determined that the nearest signpost is the left signpost 2a, the vehicle confirms the route number A1 of the road, which is the notational information indicated on the left signpost 2a, When the route number of the sign in the route is compared and the route number of the sign in the searched route is the same, the position of the vehicle is recognized as the main line.

7, when it is determined that the nearest sign board is the right sign board 2b, the vehicle confirms the route number A2 of the road, which is the notational information indicated on the right sign 2a, If the route number of the sign in the route is compared and the route number of the sign in the searched route is the same, the position of the vehicle is recognized as the branch line.

In addition, if the illuminance detected by the illuminance detector 166 is lower than the reference illuminance, the vehicle can recognize the position of the vehicle based on the route number of the road indicated on the sign.

The vehicle re-recognizes the position of the sub-lane on the basis of at least one of the curvature of the lane and the type of the lane.

Here, recognizing the position of the sub-lane on the basis of at least one of the curvature of the lane and the type of the lane is referred to as a guided navigation.

That is, the vehicle can improve the recognition accuracy of the vehicle by re-recognizing the position of the vehicle by using the estimated navigation.

More specifically, the vehicle recognizes the lane of the road obtained through the image acquisition unit 150, recognizes the lane lane based on the recognized lane, obtains the curvature of the recognized lane lane, To recognize whether it is the main line or the branch line.

8 and 9, the vehicle compares the obtained curvature c1 with the reference curvature, and if the curvature of the vehicle lane is greater than or equal to the reference curvature, the vehicle is recognized as the main line R1, Is less than the reference curvature, the sub-lane road is recognized as the branch line R2.

In addition, the vehicle obtains the curvature of the right lane from the left lane by the left lane of the vehicle, the lane of the right lane from the lane of the vehicle, and recognizes the lane having the largest curvature among the obtained lane curvatures as the main line. It is also possible to recognize.

Also, the vehicle predicts the position of the vehicle based on the notation information of the sign recognized through the image, the notation information of the sign in the search path, and the installation position of the sign, The curvature of the vehicle is determined based on the curvature of the vehicle by the image recognition and the curvature of the main line and the branch line in the searched route to determine whether the position of the vehicle is the main line on the highway or the interchange ) Or the branch line of the branch point (JC).

When the signal receiving state is abnormal, the vehicle checks the position of the last received vehicle and confirms the detected information detected by the speed detecting unit 163 or the acceleration detecting unit 165 from the point of time when the signal receiving state is abnormal. Estimates the traveling distance of the vehicle based on the obtained traveling speed based on the detected traveling speed of the vehicle based on the detected information, It is also possible to predict the current position of the vehicle based on the obtained path and to confirm the curvature of the road at the predicted current position in the detected path.

Further, the vehicle may determine the steering angle based on the angular velocity detected by the angular velocity detecting unit, and obtain the curvature of the self lane based on the determined steering angle.

Further, it is also possible for the vehicle to determine the steering angle of the vehicle on the basis of the difference between the front and rear left and right wheel speeds of the front, rear, left and right wheels, and obtain the curvature of the own vehicle based on the determined steering angle.

Further, the vehicle can also obtain the curvature of the vehicle lane based on the acceleration information detected by the acceleration detecting section, determine the yaw moment of the vehicle based on the yaw rate detected by the yaw rate detecting section, It is also possible to obtain the curvature of the lane.

The vehicle recognizes the lane on the road in the image obtained through the image acquisition unit 150, recognizes the lane on the basis of the recognized lane, and determines whether the type of the lane on both sides of the recognized lane is a dotted line, It is possible to recognize the position of the vehicle based on the recognized type of the lane on the main road on the highway or the branch line of the interchange IC or the branch point JC based on the recognized type of the lane.

As shown in Fig. 8, the vehicle recognizes the position of the sub lane as the main line R1 when the left lane L11 of the sub lane is a broken line and the right lane of the sub lane is a double line L12 of a solid line.

If the left lane of the vehicle is a dotted line and the right lane is a solid line, it is possible to determine that the position of the vehicle lane is the main line, and if the left lane is a dotted line, the position of the vehicle lane can be determined to be the main line.

As shown in Fig. 9, if the left lane of the vehicle is a double line L21 of a solid line and a dotted line, and the right lane of the vehicle lane is a solid line L22, the vehicle is recognized as a branch line R2.

It is also possible for the vehicle to recognize the position of the sub-lane as the main line if the right lane to the sub-lane is a double line of dotted line and solid line.

It is also possible for the vehicle to recognize the position of the vehicle as a main line if both lanes of the vehicle are solid lines.

Thus, the vehicle can re-recognize the position of the recognized vehicle based on at least one of the curvature of the self-vehicle and the type of both-side lane on the self-vehicle.

If it is determined that the position of the subject vehicle is the main line, it is determined (213) whether the position of the subject vehicle should be moved to the main line if it is determined that the position of the subject vehicle is a branch line. If it is determined that the vehicle should be moved to the main line, (214).

Determining whether to move to the main line includes judging whether or not to move to the main line by comparing the notation information of the signboard in the found route information with the notation information of the recognized signboard.

That is, the vehicle predicts the current position of the vehicle from the notation information of the recognized sign, and determines whether to continue to drive the highway, based on the predicted current position of the vehicle and the searched route.

This vehicle confirms the marking information of the mark on the path corresponding to the notation information of the recognized mark and the notation information of the mark on the path among the notation information of the mark of the detected route, confirms the installation position of the mark on the checked route, The current position of the vehicle can be predicted.

If it is determined that the vehicle is traveling on the main road, it is determined (215) whether it should be moved to the branch line. If it is determined that the vehicle should be moved to the branch line, the autonomous mode is released and the release information of the autonomous mode is displayed on the display (216).

This allows the driver to operate manually.

Determining whether to move to the branch line includes comparing the notation information of the signboard in the searched route information with the notation information of the recognized signboard to determine whether to move to the branching line.

That is, the vehicle predicts the current position of the vehicle from the notation information of the recognized sign, and determines whether to exit to the interchange or the fork at the highway based on the predicted current position of the vehicle and the detected route.

10 is a control configuration diagram of a terminal communicating with a vehicle according to another embodiment.

The terminal 3 can be placed in the vehicle and can communicate with the vehicle.

Such a terminal 3 may be implemented as a computer or a portable terminal capable of connecting to a vehicle through a network.

Here, the computer includes, for example, a notebook computer, a desktop computer, a laptop PC, a tablet PC, a slate PC, and the like, each of which is equipped with a WEB Browser. (PDS), a Personal Digital Assistant (PDA), an International Mobile Telecommunication (IMT), and a Personal Digital Assistant (PDS) -2000, Code Division Multiple Access (CDMA) -2000, W-CDMA (W-CDMA), WiBro (Wireless Broadband Internet) terminals, smart phones A wireless communication device and a wearable device such as a watch, a ring, a bracelet, a bracelet, a necklace, a pair of glasses, a contact lens, or a head-mounted-device (HMD).

The terminal 3 includes an input unit 310, a display unit 320, an image acquisition unit 330, a communication unit 340, a control unit 350, and a storage unit 360.

The input unit 310 receives the navigation mode and the destination.

The display unit 320 displays operation information corresponding to the navigation mode execution.

That is, the display unit 320 displays the map information on which the route is matched, and displays the route guidance information.

The communication unit 340 can communicate with the vehicle 1 and can receive the image of the road obtained from the vehicle 1. [

The communication unit 340 may be wireless or wired communication.

The terminal 3 may further include an image acquisition unit 330. The image acquisition unit 330 may directly acquire an image of the road.

If the navigation mode is selected and the destination is input, the controller 350 searches for a route to the current location and destination received from the GPS receiver, and controls display of the matched map information.

The control unit 350 receives the image information of the road from the vehicle 1 when the GPS receiver is in an abnormal state, recognizes the sign in the received image, and recognizes the sign recognized from the sign information of the sign stored in the storage unit 360 The present position of the vehicle can be predicted based on the installation position of the obtained sign, and the navigation mode can be performed based on the predicted current position.

In addition, the control unit 350 may recognize the notational information of the signboard based on the image acquired by the image acquisition unit 330 of the terminal.

Also, the control unit 350 can receive the notation information of the sign from the vehicle and recognize the position of the vehicle based on the received notation information.

The storage unit 360 stores map information, and stores names of roads, route numbers, installation locations of signs, and notation information.

In addition, the storage unit 360 may store an app for performing the navigation mode.

Meanwhile, the disclosed embodiments may be embodied in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operations of the disclosed embodiments. The recording medium may be embodied as a computer-readable recording medium.

The computer-readable recording medium includes all kinds of recording media in which instructions that can be decoded by a computer are stored. For example, it may be a ROM (Read Only Memory), a RAM (Random Access Memory), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, or the like.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. It will be appreciated that the present invention may be practiced. The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle 170: autonomous drive control device
3:

Claims (23)

A communication unit for receiving the image of the road, the detection information of the obstacle, and the current location; And
And if the received current position is a highway, performs an autonomous driving mode. If the current position is not received during the execution of the autonomous driving mode, the control unit recognizes the sign on the road image and, based on the position of the sign in the image, And a control section for controlling maintenance and release of the vehicle. The apparatus of claim 1,
The navigation system obtains a vanishing point from the image of the road and recognizes that the vehicle is a main line if the position of the sign in the image is right based on the obtained position of the vanishing point and recognizes that the vehicle is a bifurcation when the position of the sign in the image is left. And an autonomous drive control device. 3. The method of claim 2,
Further comprising a storage unit for storing map information, a name, a location, a type, and a route number of the road in the map, and storing the installation position of the road sign and the notation information of the sign,
Wherein the control unit is operable in conjunction with the navigation mode to identify the marking information of the signs in the path to the destination and the installation position of the marking on the basis of the information stored in the storage unit and recognize the marking information of the marking in the image, The present position is predicted by comparing the marking information of the signboards, the installation position and the marking information of the recognized signboard, and it is determined whether the main road running or the trunk line running is performed based on the predicted current position. The apparatus of claim 3,
Wherein the autonomous drive mode is canceled when it is determined that the branch line drive should be performed, and the autonomous drive mode is maintained when it is determined that the main road drive should be performed. The apparatus of claim 3,
Determining whether the vehicle is traveling on a bifurcated route if it is recognized that the vehicle is a main line, and releasing the autonomous mode when it is recognized that the bifurcated traveling should be performed. The apparatus of claim 3,
Determines whether the main road is traveling on the main road if it is determined that the sub-lane is a branch line, and controls the traveling direction to move to the main line if it is determined that the main road should be traveled. The apparatus of claim 3,
And recognizing the route number of the road among the notation information of the sign in the image and comparing the recognized route number with the route number in the route to determine whether the main road is a main road or a branch line. 3. The apparatus of claim 2,
Generates X and Y axes based on the obtained vanishing point, generates coordinate values of the vertexes of the signs based on the obtained vanishing point, X and Y axes, pixels of the image of the road, And recognizing the position of the sign in the image based on the position of the sign in the image. The method according to claim 1,
Further comprising a display unit for displaying performance information of the autonomous drive mode and displaying the release information of the autonomous drive mode upon release of the autonomous drive mode. The method according to claim 1,
An image acquiring unit acquiring an image of the road; And
Further comprising a distance detection unit for detecting a distance to an obstacle of the road. The apparatus of claim 1,
Among the signboards in the image, the signboard closest to the vehicle is identified, and the route number of the road is recognized from the notation information of the identified signboard. Based on the position of the route number recognized in the image, And an autonomous drive control device. The apparatus of claim 1,
Recognizing a lane of the road in the image, determining a curvature of the lane on the basis of the recognized lane, and recognizing whether the lane is a main line or a branch line of the highway based on the determined curvature. The apparatus of claim 1,
Recognizing a lane of the road in the image, recognizing the type of the recognized lane, and recognizing whether the lane is a main line or a branch line of the highway based on the identified lane type. A communication unit for receiving a current location;
An image acquiring unit acquiring an image of a road;
A distance detecting unit for detecting a distance to another vehicle traveling on the road;
And determines whether the current position is a highway based on the received current position. If the current position is a highway, it recognizes a lane in the image of the road, and recognizes a lane on a route to the destination, the received current position, And recognizes a sign on the image of the road when the current position is not received during the autonomous running, and controls the autonomous driving and autonomous driving based on the position of the recognized sign in the image, And an autonomous drive control device for controlling the release of the vehicle. 15. The automatic cruise control system according to claim 14,
The navigation system obtains a vanishing point from the image of the road and recognizes that the vehicle is a main line if the position of the sign in the image is right based on the obtained position of the vanishing point and recognizes that the vehicle is a bifurcation when the position of the sign in the image is left. ≪ / RTI > 15. The automatic cruise control system according to claim 14,
Recognizes the marking information of the signs in the image, compares the marking information of the markers in the path, the installation position, and the marking information of the recognized marking in the image, Predicting a current position, and determining whether to perform a main-line running or a branch-line running based on the predicted current position. 17. The automatic cruise control system according to claim 16,
Determining whether the vehicle is traveling on a bifurcated route if it is recognized that the vehicle is a main line, and controlling the display unit to release the autonomous mode and display the release information of the autonomous mode, . 17. The automatic cruise control system according to claim 16,
Determining whether the main road is traveling on the main line if the sub-lane is recognized as a branch line, and controlling the traveling direction to move to the main line if it is determined that the main line should be traveled. 15. The automatic cruise control system according to claim 14,
Recognizes the route number of the road among the notation information of the sign in the image, recognizes the lane in the image, confirms the type of the recognized lane, judges the curvature of the lane on the basis of the recognized lane, And recognizing whether the sub-lane is a main line or a branch line based on at least one of a route number of the road, a type of the lane, and a curvature of the sub-lane. When the autonomous driving mode and the destination are inputted through the input unit, the route is searched based on the current position and the destination received in the communication unit,
Outputs route guidance information based on the searched route,
Determines whether the current position is a highway on the basis of the received current position,
If the current position is a highway,
If the current location is not received through the communication unit during the autonomous travel,
Recognizes whether the position of the sub lane is the main line or the branch line of the highway on the basis of the position of the signboard recognized in the image,
Checking the marking information of the in-route signs stored in the storage unit and the installation position of the signs,
Recognizing the notation information of the signboard in the image,
The current position is predicted by comparing the notation information of the in-path signs, the installation position, and the notation information of the noticed signs in the image,
Determining whether to perform a main-line running or a branch line running based on the predicted current position,
And controlling the maintenance or release of the autonomous running on the basis of the recognized position of the self-driving vehicle and whether the main line or the branch line travels. 21. The method according to claim 20, wherein controlling the maintenance or release of the autonomous-
Wherein the control unit determines whether the vehicle is traveling on a bifurcated route if it is determined that the vehicle is traveling on a main line, releases the autonomous mode when it is determined to perform the bifurcated cruise,
Determining whether the main road is traveling on the main line if the sub-lane is recognized as a branch line, and controlling the traveling direction to move to the main line and maintaining autonomous driving if it is determined that the main line should be traveled. 21. The method of claim 20,
If it is impossible to recognize the position of the signboard in the image, recognizes the route number of the road among the notation information of the signboard in the image,
And recognizing the position of the vehicle based on the recognized route number. 21. The method of claim 20,
Recognizes the lane in the image,
Confirms the type of the recognized lane,
Determines the curvature of the sub lane based on the recognized lane,
Further comprising recognizing whether the sub lane is a main line or a branch line based on at least one of the type of the lane and the curvature of the sub lane.

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