KR20180062534A - Map matching apparatus and method for road lane using curvature of the curve section - Google Patents

Abstract

The present invention relates to a driving lane map matching apparatus and method using curvature information, and more particularly, to a GPS lane map matching apparatus and method for a driving lane map matching method, which comprises a GPS receiver for detecting a position on a route on which a vehicle is currently traveling, And a control unit for determining a vehicle driving lane in the curve section on the basis of the actual traveling distance in the curve section.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a traveling lane map matching apparatus and method using curvature information,

The present invention relates to an apparatus and method for matching a running lane map using curvature information, and more particularly, to an apparatus and method for matching a running lane map using curvature information, And more particularly, to a driving lane map matching apparatus and method using curvature information.

In general, a navigation system for guiding a route of a vehicle or the like is widely used to achieve safe driving in response to complicated road conditions.

The navigation system includes a Global Positioning System (GPS) receiver and stores updatable road information data. The navigation system grasps the current position of the vehicle from the signals of the satellites received through the GPS receiver, and guides the route to the destination set by the user using the stored road information data and the current position of the vehicle.

Such a navigation system guides the route to the destination and simultaneously performs guidance on other risk factors necessary for safe driving. For example, the navigation system also provides guidance on supplementary information such as tunnels, bridges, curve sections, and overspeed camera positions.

For example, the map data maker measures the curvature of the road when creating the map data. If the curvature is equal to or greater than a predetermined value, the map data maker determines the curve section as the curve section, As auxiliary information of the recording medium. Accordingly, when the vehicle reaches the curve section, the navigation system detects the existence of the curve section from the map data information, and outputs a message informing that there is a curve section ahead.

However, in the navigation system of the conventional navigation system, there is no serious problem when the driver operates the vehicle directly. However, in the vehicle to which the autonomous vehicle or the advanced driver assistance system (ADAS) is applied, It is necessary to accurately detect the lane.

Background Art [0002] The background art of the present invention is disclosed in Korean Patent Laid-Open Publication No. 10-2008-0069003 (published on July 25, 2008, navigation apparatus and multipath guidance method thereof).

According to an aspect of the present invention, there is provided a vehicle navigation system, which is created to solve such a problem as described above, is used to determine a driving lane of a vehicle using curvature information when driving a curve section of the vehicle, And an object of the present invention is to provide an apparatus and method for matching a running lane map using curvature information.

An apparatus for matching a running lane map using curvature information according to one aspect of the present invention includes: a GPS receiver unit for detecting a position on a route on which a vehicle is currently traveling; And a controller for determining a vehicle driving lane in the curve section based on the curve section progression and the actual travel distance in the curve section when the vehicle travels the curve section.

In the present invention, information necessary for calculation of a driving lane in a curve section is transmitted to the server by wired / wireless communication with the server, or precision map information is received from the server, or driving lane information in a curve section calculated by the server is received And a communication unit for communicating with the mobile communication terminal.

The present invention further includes an accurate map DB for storing accurate map information in which the information of the road and the surrounding terrain is relatively reduced in error rate, and the control unit searches for a route to the destination based on the accurate map information And acquires information related to a curve section in the searched route in advance to determine a driving lane in a curve section. The precision map information includes curvature information, lane number, and road width information.

The present invention is characterized in that the progress degree indicates the degree of progress of the vehicle in the curve section, and detects and calculates a link matched in current precision map information using GPS information received through the GPS receiver section, The distance is detected through a sensor mounted on the vehicle or is provided from an electronic control unit of the vehicle.

)를 산출하고, 상기 산출된 차선 폭 차이(N) 값을 중심차선으로부터 상기 차량이 현재 주행하고 있는 임의의 차선이 떨어져 있는 차선으로 판단하는 것을 특징으로 한다.In the present invention, the control unit may determine whether or not the reference travel distance A for the center lane, the actual travel distance B for any lane on which the vehicle is currently traveling, the lane width C for the current travel road, A radius (rA) from a center of a virtual circle that can be generated using the center lane arc, and a radius from a center of a virtual circle that can be generated using the arc of any lane the vehicle is currently traveling on (rA) of the center lane and the length difference between the radius (rA) of the center lane and the radius (rB) of the arbitrary lane on which the vehicle is currently traveling is divided by the lane width (C)

), And the calculated lane width difference value (N) is determined as a lane in which any lane on which the vehicle is currently traveling is separated from the center lane.

In the present invention, the control unit calculates a difference between a reference driving distance (A) for the center lane and an actual driving distance (B) for a certain lane on which the vehicle is currently traveling, It is determined that the vehicle is traveling in the center lane. If A > B, it is determined that the vehicle is traveling in the inner lane of the center lane. If A > B, .

In the present invention, the reference travel distance A for the center lane is the " Radius of Circle (length of the original arc) of the curve section * Is a " road width / car player ".

According to another aspect of the present invention, there is provided a traveling lane map matching method using curvature information, the method comprising: determining whether a controller is driving a curve section; And determining the vehicle driving lane in the curve section based on the curve section progress of the vehicle and the actual travel distance in the curve section when the vehicle travels the curve section .

In the present invention, it is preferable that the control unit transmits wired / wireless communication with the server via the communication unit to transmit information necessary for calculation of the driving lane in the curve section to the server, receives the precise map information from the server, And a step of receiving driving lane information in the driving lane information.

In the present invention, in the step of determining the driving lane, the controller searches for a route to a destination on the basis of precision map information stored in the precision map database or received by the server as a department, The road information includes information on the curvature information, the number of lanes, and road width information in the precise map information.

In the present invention, the progression degree indicates the degree of progress of the vehicle in the curve section, and the control unit detects a link matched in the current precision map information by using the GPS information received through the GPS receiver unit, And the actual traveling distance is detected by the control unit through a sensor mounted on the vehicle or received from the electronic control unit of the vehicle.

)를 산출하고, 상기 산출된 차선 폭 차이(N) 값을 중심차선으로부터 상기 차량이 현재 주행하고 있는 임의의 차선이 떨어져 있는 차선으로 판단하는 것을 특징으로 한다.In the present invention, in the step of judging the driving lane, the control unit may determine whether or not the reference driving distance A for the center lane, the actual driving distance B for the arbitrary lane on which the vehicle is currently traveling, Can be generated using each lane width C of the road, a radius rA from the center of a virtual circle that can be generated using the arc of the center lane, and an arbitrary lane of the car currently traveling And calculates a radius rB from the center of the imaginary circle having the lane width rA and the length difference between the center lane radius rA and the radius rB of the lane on which the vehicle is currently traveling, Divided lane width difference (

), And the calculated lane width difference value (N) is determined as a lane in which any lane on which the vehicle is currently traveling is separated from the center lane.

In the present invention, the control unit calculates a difference between a reference travel distance (A) for the center lane and an actual travel distance (B) for an arbitrary lane on which the vehicle is currently traveling, It is determined that the vehicle is traveling in the center lane. If A > B, it is determined that the vehicle is traveling in the inner lane of the center lane. If A > B, .

In the present invention, the reference travel distance A for the center lane is the " Radius of Circle (length of the original arc) of the curve section * Is a " road width / car player ".

According to one aspect of the present invention, the present invention can determine a driving lane of a vehicle using curvature information when the vehicle travels a curve section, and utilize it for navigation guidance or autonomous navigation of navigation.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating a schematic configuration of a driving lane map matching apparatus using curvature information according to an embodiment of the present invention; FIG.
BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a method of matching a lane map using curvature information according to an embodiment of the present invention.
3 is a diagram illustrating a road section of a road for explaining a driving lane map matching method using curvature information according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a driving lane map matching apparatus and method using curvature information according to the present invention will be described with reference to the accompanying drawings.

In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a diagram illustrating a schematic configuration of a driving lane map matching apparatus using curvature information according to an embodiment of the present invention. Referring to FIG.

1, the driving lane map matching apparatus using the curvature information according to the present embodiment includes a GPS receiver 110, a precision map DB 120, a controller 130, a route search unit 140, (150), and an information output unit (160).

At this time, the driving lane map matching apparatus using the curvature information according to the present embodiment can provide precision map information for determining the driving lane of the vehicle using the curvature information when the vehicle travels in the curve section, And a vehicle control unit 200 (for example, an electronic control unit) that receives the driving lane information determined in the curve section and utilizes it for navigation guidance or autonomous navigation of navigation.

Meanwhile, the driving lane map matching apparatus using the curvature information in the present embodiment may mean a device combined with a navigation terminal installed in a vehicle, and may be a server (e.g., a navigation server, An information providing server, a cloud server, a data server, etc.) (300).

For example, the driving lane map matching apparatus using the curvature information according to the present embodiment may be provided with the precise map information stored in the server 300 when the communication with the server 300 is connected, The control unit 130 itself can determine the driving lane in the curve section using the information stored in the precise map DB 120 (e.g., precise map data) have.

The GPS (Global Positioning System) receiving unit 110 receives a GPS signal through a GPS antenna (not shown).

The control unit 130 can detect a traveling direction, a traveling distance, a traveling speed, and the like of the vehicle using the information included in the GPS signal received through the GPS receiver 110.

The precise map DB 120 stores precise map (or high-precision map) information which is constructed by precisely (for example, reducing an error rate of an existing meter unit by an error rate of a centimeter unit) of the information of the road and the surrounding terrain.

For example, the precision map (or high-precision map) information (or data) is a map that is improved by more than ten times the accuracy of the existing digital map, and is a precise map having a difference of about 10 cm from the actual road.

For reference, the precision map (or high-precision map) information (or data) includes cracks in tunnels and roads, coloring state of lanes, degree of aging of buildings, curvature information of roads and the like. Such precision map (or high-precision map) information (or data) is widely used for disasters, disasters, civil engineering works, and construction work.

The control unit 130 determines the current position of the vehicle (for example, the vehicle equipped with the traveling lane map matching apparatus using the curvature information according to the present embodiment) by using the information received (or obtained) from the GPS receiving unit 110 And calculates (calculates) the driving lane when the vehicle runs on the curve section.

The control unit 130 previously acquires the precise map information within a predetermined distance (for example, 2 km) ahead of the route based on the route to the predetermined destination and determines the driving lane in the curve section. However, Precision map information within a predetermined distance (for example, 2 km) ahead of the road being driven can be acquired in advance to determine (calculate) the driving lane in the curve section.

A method for the controller 130 (or the server 300) to determine (calculate) a driving lane in a curve section will be described in detail with reference to FIGS. 2 and 3. FIG.

When the user designates a destination through navigation, the path search unit 140 searches for a route to the destination based on the precise map information stored in the precise map DB 120 (or provided from the server 300) Search.

Based on the searched route, the controller 130 can know the curve section in the searched route in advance and obtain information (e.g., curvature information, lane number, road width, etc.) related to the curve section in advance (Or loading) the driving lane to prepare the driving lane determination (calculation) in the curve section.

The communication unit 150 communicates with the server 300 connected in a wireless (or wired) manner. The communication unit 150 transmits at least one piece of information (e.g., precise map information, information necessary for calculation of a driving lane in a curve section (for example, actual traveling distance, traveling distance, etc.) to the server 300 using the wireless Etc.), a driving lane in a curve section calculated by the server, and the like.

The wireless scheme includes a wireless communication scheme using at least one of WiFi, Bluetooth, Near Field Communication (NFC), 3G, 4G, and 5G, or infrared. The wired method includes a wired communication method using at least one of a USB (Universal Serial Bus), a LAN (Local Area Network), a serial line, and a parallel line. However, the wireless / wired communication method described above is only described by way of example and is not described for limiting the communication method.

The information output unit 160 outputs the information on the vehicle driving lane in the curve section that the control unit 130 has judged (calculated) by itself, or the vehicle running in the curve section that the server 300 determines (calculates) The lane information is transmitted to the vehicle control unit 200 (for example, an electronic control unit) so that the lane information can be used for driving guidance and autonomous driving.

Hereinafter, a method for the controller 130 (or the server 300) to determine (calculate) a driving lane in a curve section will be described with reference to FIG. 2 and FIG.

In the present embodiment, however, the server 300 determines the driving lane in the curve section by performing the same operation performed by the controller 130, so that a detailed description of the operation of the server 300 will be omitted do.

FIG. 2 is a flowchart illustrating a driving lane map matching method using curvature information according to an embodiment of the present invention. FIG. 3 illustrates a method of matching a driving lane map using curvature information according to an embodiment of the present invention. Fig. 8 is a view showing a road section of a road for the present invention; Fig.

Referring to FIG. 2, the controller 130 loads path information from the precise map DB 120 (or the server 300) to a destination designated by the user through navigation (S101).

The control unit 130 divides the loaded path into curves and loads the curvature information of each curve (S102) (see FIG. 3).

For example, the precise map information (or data) provided through the precise map DB 120 (or the server 300) includes curvature information of the road.

The curvature information assumes a road as a call (or piece) cut from one circle, and provides length information and bend information of the call (or piece). In this case, the curvature information provides information about the center lane of the road. For example, assuming that there are three lanes (①, ②, ③) as shown in FIG. 3, curvature information about the two- Is provided.

Therefore, assuming that the road on which the vehicle is currently traveling (traveling from the upper part to the lower part) is curved to the left (left) as shown in FIG. 3, the length of the arc of the two- If the actual traveling distance (or the length B of the arc) is shorter than this, it can be judged that the inner lane (for example, the third lane ③) is traveling. On the other hand, if the actual running distance (or arc length) is longer than the length (A) of the arc of the second lane (2) road, it can be determined that the outside lane (e.g., the first lane have.

Meanwhile, when the curvature information is loaded as described above, the controller 130 determines whether the curve information of the current vehicle is significant (S103).

That is, the controller 130 determines whether the vehicle enters a curve section.

For example, the controller 130 may determine whether the vehicle has entered the curve section (or whether the curve information at the current position is meaningful) by checking the following conditions.

For example, when the curvature value of the current section (or the curve link) is 0, the controller 130 can determine that the curve section is not in the curve section because the curve section is the straight section, and if there is no curvature value of the current section It can be determined that the vehicle has not entered the vehicle, and it can be determined that the vehicle has not entered the curve section even when the vehicle has not been mapped to any section (for example, when the vehicle has entered a road not registered in the map DB). Otherwise, it can be determined that the vehicle has entered the curve section.

If it is determined that the current driving vehicle is traveling on the curve section based on the curvature information as described above, the controller 130 determines the driving lane in the current curve section based on the progress of the vehicle (vehicle) and the actual traveling distance (S104).

Here, the progression degree represents the degree (percentage) of progression of the curve section.

(Ratio) of the curve section (or arc) of the center lane is 100 m. At this time, the control unit 130 may detect the link that matches the current precision map information by using the GPS information received through the GPS receiver 110.

The actual traveling distance may be detected through a sensor (not shown) mounted on the vehicle (or a wheel of the vehicle) or may be provided from an electronic control device (e.g., ECU) (not shown) of the vehicle.

Therefore, the control unit 130 calculates the reference travel distance A for the center lane (or the reference lane of the road on which the curvature information is provided) (e.g., the lane 2) (B) of the lane (e.g., the three lanes (3)) of the vehicle.

The reference travel distance A is the radius of circle of the curve section (or the curved link) (the length of the original arc) * the progress in the curve section of the current vehicle) (Not shown) mounted on the vehicle (or the wheel of the vehicle) as described above, or can be provided from an electronic control device (e.g., ECU) (not shown) of the vehicle.

As described above, the reference travel distance A for the center lane (or the reference lane for the road on which the curvature information is provided) (for example, the two lanes (2)) and the lane on which the vehicle is currently traveling The control unit 130 determines that the vehicle is in the middle lane of the center lane (or the reference lane of the road on which the curvature information is provided) by using the difference AB, It is possible to judge whether the vehicle is traveling or traveling in the outer lane.

That is, if A = B, it can be determined that the vehicle is traveling in the center lane (or the reference lane of the road on which the curvature information is provided). If A < , It can be determined that the vehicle is traveling on the inner lane of the center lane (or the reference lane of the road on which the curvature information is provided) if A> B .

Accordingly, the controller 130 calculates each lane width (C = road width / difference) of the current driving road in order to determine (calculate) a more accurate driving lane.

The controller 130 calculates a radius rA from a center of a virtual circle that can be generated using a center lane (or a reference lane of a road on which curvature information is provided) (e.g., a lane 2) Calculate the radius (rB) from the center of the imaginary circle that can be created using the arc of any lane (eg, three lanes (③)) that the vehicle is currently driving. At this time, the centers (coordinates) of the two virtual circles are the same.

)를 산출한다. Accordingly, the controller 130 calculates the radius rA of the center lane (or the reference lane of the road on which the curvature information is provided) (e.g., the second lane (2)) and the lane (rA) The difference in length of the radius rB of the three lanes 3) is divided by the lane width C,

).

The lane width difference N may be calculated from any lane (e.g., a three-lane road) that the vehicle is currently traveling from a center lane (or a reference lane of a road on which curvature information is provided) ) Is a few lanes apart. At this time, a value less than or equal to the integer of the lane width difference (N) value (error value) can be processed in a specified manner (for example, rounding off).

When the driving lane in the current curve section is determined (calculated) as described above, the controller 130 transmits the determined driving lane information to the vehicle controller 200 and utilizes it for driving guidance and autonomous driving (S105).

As described above, in the present embodiment, the vehicle determines the driving lane of the vehicle using the curvature information when the vehicle travels in the curve section, so that it can be used for navigation guidance or autonomous navigation of the navigation.

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 embodiments, but, on the contrary, I will understand the point. Accordingly, the technical scope of the present invention should be defined by the following claims.

110: GPS receiver 120: Precision map DB
130: control unit 140:
150: communication unit 160: information output unit
200: vehicle controller 300: server

Claims (14)

A GPS receiver for detecting a position on a route that the vehicle is currently traveling; And
And a controller for determining a vehicle driving lane in the curve section on the basis of the progress of the curve section of the vehicle and the actual traveling distance of the curve section when the vehicle travels the curve section, A driving lane map matching device.
The method according to claim 1,
A communication unit for performing wire / wireless communication with the server to transmit information necessary for calculating a driving lane in a curve section to the server, receive precision map information from the server, or receive driving lane information in a curve section calculated by the server; Wherein the driving lane map matching apparatus further comprises a curvature information generating unit that generates curvature information of the driving lane map.
The method according to claim 1,
And a precise map DB for storing precise map information in which the information of the road and the surrounding terrain is relatively less error rate than the existing one,
Wherein the control unit searches for a route to a destination based on the precise map information, obtains information relating to a curve section in the searched route in advance to determine a driving lane in a curve section, , The number of lanes, and road width information are included in the running lane map.
The method according to claim 1,
The progress map indicates the degree to which the vehicle has traveled in the curve section. The GPS map information received through the GPS receiver section is used to detect and calculate a link matched in the current precision map information.
Wherein the actual traveling distance is detected through a sensor mounted on a vehicle or provided from an electronic control unit of the vehicle.
The apparatus of claim 1,
(A) for the center lane, the actual driving distance (B) for any lane on which the vehicle is currently traveling, the lane width (C) of the current driving lane, and the center lane (RB) from the center of the imaginary circle, which can be generated using the radius (rA) from the center of the imaginary circle, which can be generated by the vehicle, and the arc of any lane on which the vehicle is currently traveling,
The difference in length between the center lane radius rA and the radius rB of the lane on which the vehicle is currently traveling is divided by the lane width C to calculate the lane width difference

),
And the calculated lane width difference value (N) is determined as a lane in which the lane on which the vehicle is currently traveling is separated from the center lane.
6. The apparatus of claim 5,
The difference between the reference travel distance A for the center lane and the actual travel distance B for any lane on which the vehicle is currently traveling is calculated,
If A &gt; B, it is determined that the vehicle is traveling on the outer lane of the center lane. If A > B, the vehicle determines that the vehicle is in the center lane And judges that the vehicle is traveling on the basis of the curvature information.
6. The method of claim 5,
The reference travel distance A with respect to the center lane is a "radius of circle (length of a circle arc) of the curve section * progression in the curve section of the current vehicle"
And the lane width (C) is a &quot; road width / crossing point &quot;.
Determining whether the vehicle is traveling in a curve section; And
When the vehicle travels a curve section, the control section determines the vehicle driving lane in the curve section based on the curve section progression and the actual travel distance in the curve section of the vehicle A method of matching a running lane map using curvature information.
9. The method of claim 8,
The control unit,
Transmitting information necessary for calculation of a driving lane in a curve section to the server through wired / wireless communication with the server through a communication section, receiving precision map information from the server, or receiving driving lane information in a curve section calculated by the server The method of claim 1, further comprising the steps of:
The method according to claim 8, wherein, in the step of determining the driving lane,
Wherein,
A route to a destination is searched based on the precise map information stored in the precise map DB or received by the server as a department, information on a curve section in the searched route is acquired in advance to determine a driving lane in a curve section,
Wherein the precision map information includes curvature information, a number of lanes, and road width information.
9. The method of claim 8,
Wherein the control unit detects and calculates a link matched with the current precision map information by using the GPS information received through the GPS receiver,
Wherein the actual traveling distance is detected by the control unit through a sensor mounted on the vehicle or is provided from an electronic control unit of the vehicle.
The method according to claim 8, wherein, in the step of determining the driving lane,
Wherein the control unit determines whether or not the reference running distance A for the center lane, the actual running distance B for any lane on which the vehicle is currently traveling, the lane width C for the current running road, (RB) from the center of the imaginary circle that can be generated using the radius (rA) from the center of the imaginary circle that can be created using the vehicle and the arc of any lane that the vehicle is currently traveling on and,
The difference in length between the center lane radius rA and the radius rB of the lane on which the vehicle is currently traveling is divided by the lane width C to calculate the lane width difference

),
And determining the calculated lane width difference value (N) as a lane in which the lane on which the vehicle is currently traveling is separated from the center lane.
13. The method of claim 12,
The control unit calculates the difference between the reference travel distance A for the center lane and the actual travel distance B for any lane on which the vehicle is currently traveling,
If A &gt; B, it is determined that the vehicle is traveling on the outer lane of the center lane. If A > B, the vehicle determines that the vehicle is in the center lane And determining that the vehicle is traveling on the basis of the curvature information.
13. The method of claim 12,
The reference travel distance A with respect to the center lane is a "radius of circle (length of a circle arc) of the curve section * progression in the curve section of the current vehicle"
And the lane width (C) is &quot; road width / differential &quot;.

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