KR20230091366A - Apparatus and method for road lane recognition - Google Patents

Abstract

The present invention includes an input unit; and when a lane division command is input through the input unit, a movement distance traveled from one edge lane to the other edge lane of the road in the driving direction of the vehicle is calculated, and a total road width of the road is calculated based on the movement distance. and a controller for calculating a road width for each lane based on the total road width.

Description

Apparatus and method for dividing driving lanes {APPARATUS AND METHOD FOR ROAD LANE RECOGNITION}

The present invention relates to an apparatus and method for dividing driving lanes, and more particularly, to a driving lane dividing apparatus and method for distinguishing driving lanes of a vehicle in motion when applied to a navigation device.

In general, a navigation system (Navigation System) applied to a vehicle refers to a device that guides a driver from a starting point to a destination, and the driver drives to the destination while viewing a map displayed on a terminal of the navigation system or listening to a voice message. . Such a navigation system combines location information from navigation satellites and spatial data of an electronic map to display the location of a vehicle on a road displayed on a map.

However, the existing navigation system cannot inform the location of the lane (lane) in which the vehicle is driving. That is, the existing navigation system only guides left turn or right turn on a driving route, but cannot provide guidance based on the location of a lane (lane) in which the vehicle is driving. For example, if the driver needs to make a left turn and the vehicle is currently driving in a lane other than the first lane, guidance for changing lanes is not provided. Therefore, the driver has to perform a lane change after determining the surrounding location of the navigation system, the location of the actual road, and the currently driving lane, which is inconvenient.

In order to solve this inconvenience, a method of embedding an RFID sensor in a road and a method of recognizing a lane using a camera have been proposed.

However, in the case of lane recognition using RFID, since RFID sensors must be buried in all roads, there are limitations in terms of installation and maintenance. In addition, since RFID uses communication, there is a problem in that the recognition rate is lowered depending on the surrounding weather conditions and the speed of the vehicle. In the case of lane recognition using a camera, since development was started mainly for lane departure warning, only lane recognition is possible, and it is not known which lane the vehicle is absolutely traveling on. In addition, there is a problem in that lane recognition becomes impossible when there is snow or fog. In addition, a navigation system generally applied to a vehicle has a problem in that it is impossible to distinguish lanes due to limitations of input signals such as GPS.

The background art of the present invention is disclosed in Republic of Korea Patent Registration No. 10-2295577 (registered on August 24, 2021).

The present invention has been made to improve the above problems, and an object of the present invention according to one aspect is a driving lane dividing device that can distinguish driving lanes by applying to a navigation device capable of distinguishing lanes of a vehicle in motion, and is to provide a way

According to one aspect of the present invention, the present invention provides an input unit; and when a lane division command is input through the input unit, a movement distance traveled from one edge lane to the other edge lane of the road in the driving direction of the vehicle is calculated, and a total road width of the road is calculated based on the movement distance. and a controller for calculating a road width for each lane based on the total road width.

In the present invention, after receiving the lane division command in a state where the wheel angle of the vehicle is 90° in the one-side edge lane of the road, the control unit performs distance measurement when the wheel angle in the one-side edge lane becomes less than 90°. and the distance measurement may be ended when the wheel angle becomes 90° after the vehicle moves to the lane on the other side of the road.

In the present invention, when the distance measurement is completed, the control unit calculates a first movement distance traveled by the vehicle from the start of the distance measurement to the end of the distance measurement, and based on the first movement distance, the vertical direction of the road A second movement distance in a lateral direction may be calculated, the total road width may be calculated based on the second movement distance and the vehicle width, and the road width for each lane may be calculated by dividing the total road width by the number of lanes. there is.

In the present invention, the control unit calculates the first movement distance based on the number of rotations of the wheel and the wheel circumference from the start of the distance measurement to the end of the distance measurement, and calculates the first movement distance and the wheel angle at the time of measuring the distance. Based on this, the second movement distance may be calculated.

In the present invention, the control unit may calculate the total road width by summing the second moving distance and the vehicle width.

In the present invention, the control unit calculates the road width for each lane by dividing the total road width by the number of lanes, and the number of lanes may be received through the input unit or obtained from an electronic map stored in the storage unit.

In the present invention, after calculating the road width for each lane, when the vehicle moves in the other edge lane, the control unit determines the vehicle based on at least one of a wheel circumference of the vehicle, a wheel rotation speed during movement, and a wheel angle of the vehicle. It is possible to calculate the mileage and recognize the lane in which the vehicle is traveling based on the mileage and the road width for each lane.

In the present invention, the control unit calculates a first mileage traveled by the vehicle based on the circumference of a wheel of the vehicle and the number of wheel rotations during movement, and calculates a first mileage traveled by the vehicle in the transverse direction based on the first mileage and wheel angle. A second mileage may be calculated, and the lane in which the vehicle is traveling may be recognized by dividing the second mileage by the road width for each lane.

An apparatus for dividing driving lanes according to the present invention includes a position measuring unit for measuring a position of the vehicle; and a storage unit for storing information on at least one road for which a road width for each lane is calculated in response to the lane division command, wherein the control unit includes a current location measured through the position measurement unit for the road stored in the storage unit. , the road width for each lane of the corresponding road is obtained from the storage unit, and when the vehicle moves from the one edge lane or the other edge lane, the wheel circumference of the vehicle, the number of wheel revolutions and the wheel angle during movement A traveling distance of the vehicle may be calculated based on at least one of the above, and a lane in which the vehicle is traveling may be recognized based on the traveling distance and the road width for each lane.

According to another aspect of the present invention, when a lane division command is input, calculating, by a control unit, a movement distance from a lane at one edge of a road to a lane at the edge of the other side of a road in a driving direction of a vehicle; calculating, by the control unit, a total road width of the road based on the moving distance; calculating, by the control unit, a road width for each lane based on the total road width; and when the vehicle moves in the other edge lane, the control unit calculates the mileage of the vehicle using at least one of a wheel circumference of the vehicle, a wheel rotation speed during movement, and a wheel angle, A driving lane classification method is provided, which includes recognizing a lane in which the vehicle is driving based on a road width for each lane.

In the present invention, the calculating of the moving distance may include, after the control unit receives the lane division command in a state in which the wheel angle of the vehicle is 90° in the lane on the edge of one side of the road, the wheel angle in the lane on the edge of the one side of the road starting distance measurement when the angle is less than 90°, and terminating the distance measurement when the wheel angle becomes 90° after the vehicle moves to the other edge lane; calculating, by the control unit, a first movement distance based on a wheel rotation speed and a wheel circumference of the vehicle from the start of the distance measurement to the end of the distance measurement; and calculating, by the controller, the second movement distance using the first movement distance and a wheel angle at the time of measuring the distance.

In the present invention, in the step of calculating the total road width of the road, the control unit may calculate the total road width by calculating the sum of the second moving distance and the vehicle width.

In the present invention, in the step of calculating the road width for each lane, the control unit calculates the road width for each lane by dividing the total road width by the number of lanes, and the number of lanes is received through an input unit or stored in a storage unit. It can be obtained from stored electronic maps.

In the present invention, in the step of recognizing the lane in which the vehicle is traveling, the control unit calculates a first mileage traveled by the vehicle based on wheel circumferences of the vehicle and wheel revolutions during movement, and A second travel distance in the lateral direction is calculated based on the first travel distance and the wheel angle, and the lane in which the vehicle is traveling can be recognized by dividing the second travel distance by the road width for each lane.

An apparatus and method for distinguishing driving lanes according to an embodiment of the present invention enable recognizing the driving lane of a host vehicle without a separate module for determining the driving lane of the host vehicle.

An apparatus and method for distinguishing driving lanes according to an embodiment of the present invention are applied to a navigation device capable of distinguishing lanes of a vehicle in motion to distinguish driving lanes.

An apparatus and method for dividing driving lanes according to an embodiment of the present invention can be applied not only to complex roads such as expressways, branch roads, junction roads, and intersections, but also to new roads, painted roads, and roads under construction.

1 is a schematic block diagram of an apparatus for dividing driving lanes according to an embodiment of the present invention.
2 is an exemplary diagram for explaining a road in a traveling direction according to an embodiment of the present invention.
3 is an exemplary diagram for explaining a method of calculating a road width for each lane according to an embodiment of the present invention.
4 is a flowchart for explaining a driving lane classification method according to an embodiment of the present invention.
5A and 5B are flowcharts for explaining a driving lane classification method according to another embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. However, the present invention may be embodied in many different forms and is not limited to the embodiments set forth herein. And, in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a certain part is said to "include" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

Implementations described herein may be embodied in, for example, a method or process, an apparatus, a software program, a data stream, or a signal. Even if discussed only in the context of a single form of implementation (eg, discussed only as a method), the implementation of features discussed may also be implemented in other forms (eg, an apparatus or program). The device may be implemented in suitable hardware, software and firmware. The method may be implemented in an apparatus such as a processor, which is generally referred to as a processing device including, for example, a computer, microprocessor, integrated circuit or programmable logic device or the like. Processors also include communication devices such as computers, cell phones, personal digital assistants ("PDAs") and other devices that facilitate communication of information between end-users.

1 is a block diagram schematically showing a driving lane dividing device according to an embodiment of the present invention, FIG. 2 is an exemplary view for explaining a road in a driving direction according to an embodiment of the present invention, and FIG. It is an exemplary view for explaining a method of calculating a road width for each lane according to an embodiment of the present invention.

Referring to FIG. 1 , an apparatus 100 for dividing driving lanes according to an embodiment of the present invention includes an input unit 110, an output unit 120, a storage unit 130, a position measurement unit 140, and a control unit ( 150).

The input unit 110 is a component for receiving a user command such as a lane division command, and includes a key pad, a dome switch, a touch pad (static pressure/capacity), a jog wheel, a jog switch, and the like. can include

The output unit 120 is a component that outputs various information related to the operation of the driving lane dividing device 100, and may include a display unit (not shown) and a sound output unit (not shown).

The display unit and the audio output unit output guidance information in the form of visual information or audio information. For example, the display unit outputs spatial information of an electronic map in the form of a map and displays a driving route on the map, and the sound output unit outputs audio related to guidance items such as going straight, turning left, and turning right. The display unit may also operate as an input unit 110 for receiving information from a user.

The storage unit 130 may store map data (eg, precision map data, HD Map, etc.) and information about the road width for each lane of each road. That is, the storage unit 130 may store map data including geographic coordinates displaying latitude and longitude in units of degrees/minutes/seconds. In addition, the storage unit 130 may store link information based on map data and a history of traffic information for each link received through a real-time traffic information receiving unit (not shown). In addition, the storage unit 130 is for storing spatial data (GIS data: Geographic Information System data) on roads and geographical features around the roads. Precision electronic maps with embedded detailed spatial data can be used. Also, the storage unit 130 may store information on at least one road for which a road width for each lane is calculated in response to a lane division command.

The storage unit 130 is a component that stores data related to the operation of the driving lane dividing device 100 . Here, the storage unit 130 may use a known storage medium, and for example, any one or more of known storage media such as ROM, PROM, EPROM, EEPROM, and RAM may be used.

The location measuring unit 140 receives a GPS signal for measuring the current location of the vehicle 10 . At this time, the location measurement unit 140 may be a Global Positioning System (GPS). Accordingly, the location measurement unit 140 may derive location information of the vehicle 10 by calculating the distance between the GPS satellite and the GPS receiver as coordinate values. At this time, the location measurement unit 140 may determine whether the location information of the vehicle 10 is a road (link), and may exclude a case where it is not a road.

When a lane division command is input through the input unit 110, the control unit 150 calculates a movement distance from one edge lane of the road to the other edge lane in the driving direction of the vehicle 10, and calculates the movement distance based on the movement distance. Based on the total road width of the road, the total road width may be calculated, and the road width for each lane may be calculated based on the total road width. Here, the lanes from the edge lane on one side of the road to the edge lane on the other side in the driving direction means, for example, in the case of a six-lane road as shown in FIG. 2, three lanes (1, 2 and 3), and the direction opposite to the driving direction of the vehicle 10 may be three lanes 4, 5 and 6. The total road width of the road may mean the total road width of three lanes 1, 2, and 3, which are roads in the driving direction of the vehicle 10.

In the above, the lane on one edge of the road may mean the rightmost lane or the leftmost lane. When one edge lane is the rightmost lane, the other edge lane means the leftmost lane of the road, and one side When the edge lane is the leftmost lane, the other edge lane means the rightmost lane of the road. Hereinafter, for convenience of explanation, it will be described as an example that one edge lane means the rightmost lane and the other edge lane means the leftmost lane of the road.

A method for the controller 150 to calculate the road width for each lane will be described with reference to FIG. 3 .

As shown in a shown in FIG. 3 , the control unit 150 controls the input unit 110 in a state where the wheel angle of the vehicle 10 is 90° (straight driving state) in the rightmost lane of the road in the driving direction of the vehicle 10. A lane division command may be input through . That is, the user (driver) may input a lane division command in a state where the wheel angle of the vehicle 10 is 90° in order to distinguish lanes on the driving road. Then, as shown in b, when the vehicle 10 starts to move to the leftmost lane in a state where the wheel angle in the rightmost lane is less than 90°, the controller 150 may start measuring the distance for calculating the road width for each lane. . After starting the distance measurement, after the vehicle 10 moves to the leftmost lane of the road as shown in c, and the wheel angle becomes 90° (straight driving state) as shown in d, the controller 150 calculates the road width for each lane. The distance measurement for The controller 150 may measure the wheel angle through a steering angle detection sensor (not shown) installed on a handle shaft (not shown) or a steering gear (not shown) that controls rotation of the wheel of the vehicle 10 . The steering angle detection sensor may be installed at any one position or a plurality of positions of a steering device for rotating a wheel when a driver manipulates a steering wheel shaft (not shown), and may measure a wheel angle in a contact or non-contact manner. Also, the controller 150 may measure the wheel angle according to the movement of the steering gear. The controller 150 may use various conventional methods for measuring the wheel angle. In addition, various known or unknown wheel angle measurement methods may be applied.

When the distance measurement ends as described above, the controller 150 may calculate a first moving distance D traveled by the vehicle 10 from the start of the distance measurement to the end of the distance measurement. In this case, the controller 150 may calculate the first movement distance D based on the circumferential length of the wheel of the vehicle and the rotational speed of the wheel during movement. For example, the controller 150 may calculate the first movement distance D using Equation 1 below.

[Equation 1]

Here, LC may mean the circumferential length of the wheel, and NR may mean the number of revolutions of the wheel.

When the first movement distance D is calculated, the controller 150 may calculate a second movement distance B in a lateral direction, which is a vertical direction of the road, based on the first movement distance D. Here, the second movement distance B may mean a movement distance in the lateral direction of the vehicle 10 as shown in FIG. 3 . The controller 150 may calculate the second movement distance B using the first movement distance D and the wheel angle at the time of distance measurement. For example, the controller 150 may calculate the second movement distance B using Equation 2 below.

[Equation 2]

B = D * cos (wheel angle)

When the second moving distance B is calculated, the controller 150 may calculate the total road width based on the second moving distance B and the vehicle width. In order to calculate the total road width, as shown in FIG. 3, it is necessary to know the remaining distances A and C except for the second moving distance B. Accordingly, the controller 150 may refer to half of the vehicle width (ie, vehicle width/2) as A and B. Accordingly, the controller 150 may calculate the total road width by calculating the sum of the second moving distance B, A and C.

When the total road width is calculated, the controller 150 may calculate the road width for each lane by dividing the total road width by the number of lanes. That is, the controller 150 may calculate the road width (lane width) for each lane using Equation 3 below.

[Equation 3]

Here, the number of lanes may be input from a user (driver) through the input unit 110 or may be automatically acquired from an electronic map stored in the storage unit 130 . When the number of lanes is obtained from the electronic map, the controller 150 checks the road on which the vehicle 10 is currently located based on the position measured by the position measurement unit 140, and the electronic map stored in the storage unit 130 The number of lanes on the road can be obtained from

The controller 150 may store the road width for each lane of the corresponding road in the storage unit 130 .

After calculating the road width for each lane, when the vehicle 10 moves from the leftmost lane to the right lane, the controller 150 controls the vehicle 10 based on the road width for each lane (lane width) and the mileage of the vehicle 10. ) can recognize (separate) the driving lane.

That is, after calculating the road width for each lane, when the vehicle 10 moves in the leftmost lane as shown in e of FIG. The mileage of the vehicle 10 may be calculated using at least one of the above. In this case, the controller 150 may calculate the first travel distance F traveled by the vehicle 10 based on the circumference of the wheels of the vehicle 10 and the rotational speed of the wheels during movement. That is, the controller 150 may calculate the first mileage F by multiplying and calculating the circumferential length of the wheels of the vehicle 10 by the number of revolutions of the wheels during movement. Then, the controller 150 may calculate a second travel distance E in the lateral direction based on the first travel distance F and the wheel angle. In this case, the controller 150 may calculate the second travel distance E by multiplying and calculating the cosine value of the wheel angle (cos (wheel angle)) by the first travel distance F. After that, the controller 150 may divide (recognize) the lane in which the vehicle 10 is driving by dividing the second mileage E by the road width (lane width) for each lane.

According to another embodiment of the present invention, the control unit 150, when the current location measured through the position measurement unit 140 is a road stored in the storage unit 130, the road by lane of the corresponding road from the storage unit 130 The width is obtained, and when the vehicle 10 moves from the rightmost lane or the leftmost lane, the vehicle 10 is measured using at least one of the circumference of the wheels of the vehicle 10, the number of wheel revolutions during movement, and the wheel angle. The driving distance may be calculated, and the lane in which the vehicle 10 is driving may be recognized based on the driving distance and the road width for each lane.

When the driving lane dividing device 100 configured as described above is used, the road width for each lane can be calculated based on the actual moving distance of the vehicle 10 without using GPS, which is less accurate.

Meanwhile, the driving lane dividing device 100 configured as described above may be integrally formed with the navigation device or may be provided separately from the navigation device.

As described above, in the embodiment of the present invention, in order to calculate the road width for each lane, the case of moving from the rightmost lane to the leftmost lane of the road in the driving direction of the vehicle has been described, but the width of the road in the driving direction of the vehicle has been described. Even when moving from the leftmost lane to the rightmost lane, it is natural that the road width for each lane can be calculated.

4 is a flowchart for explaining a driving lane classification method according to an embodiment of the present invention.

Referring to FIG. 4 , a lane division command is input in a state where the wheel angle of the vehicle 10 is 90° (straight driving state) in the rightmost lane of the road in the driving direction of the vehicle 10 (S402), and the rightmost lane When the wheel angle of the vehicle 10 is less than 90° in , the controller 150 starts measuring the distance (S404).

After starting the distance measurement, the vehicle 10 moves to the leftmost lane of the road in the driving direction (S406), and when the wheel angle of the vehicle 10 becomes 90°, the controller 150 ends the distance measurement (S408). ).

When the distance measurement is finished, the controller 150 calculates the first moving distance D traveled by the vehicle 10 from the start of the distance measurement to the end of the distance measurement (S410). In this case, the controller 150 may calculate the first movement distance based on the circumferential length of the wheel of the vehicle and the rotational speed of the wheel during movement.

When step S410 is performed, the controller 150 calculates a second movement distance in a lateral direction, which is a vertical direction of the road, based on the first movement distance (S412). In this case, the controller 150 may calculate the second movement distance using the first movement distance D and the wheel angle at the time of distance measurement.

When step S412 is performed, the controller 150 calculates the total road width based on the second moving distance and the vehicle width (S414), and divides the total road width by the number of lanes to calculate the road width for each lane (S416). In this case, the control unit 150 may receive the number of lanes from the user (driver) through the input unit 110 or automatically acquire them from the electronic map stored in the storage unit 130 .

After performing step S416, when the vehicle 10 moves in the leftmost lane (S418), the controller 150 determines the vehicle 10 based on the road width (lane width) for each lane and the mileage of the vehicle 10. The driving lane is divided (S420). That is, after calculating the road width for each lane, when the vehicle 10 moves in the leftmost lane, the controller 150 uses at least one of the wheel circumference of the vehicle 10, the number of wheel revolutions during movement, and the wheel angle The mileage of the vehicle 10 may be calculated. At this time, the controller 150 may calculate the first mileage F traveled by the vehicle 10 based on the circumference of the wheels of the vehicle 10 and the rotational speed of the wheels during movement. That is, the controller 150 may calculate the first mileage by calculating the product of the circumferential length of the wheels of the vehicle 10 and the rotational speed of the wheels during movement. Then, the controller 150 may calculate a second travel distance E in the lateral direction based on the first travel distance and the wheel angle. At this time, the controller 150 may calculate the second travel distance by multiplying and calculating the cosine value of the wheel angle (cos (wheel angle)) by the first travel distance F. Then, the controller 150 may divide (recognize) the lane in which the vehicle 10 is driving by dividing the second travel distance by the road width (lane width) for each lane.

As described above, when the user (driver) drives the vehicle 10 once from the rightmost lane to the leftmost lane, the controller 150 can calculate the total lane width using the information, and the road width for each lane. Based on (lane width) information, vehicle mileage, and wheel angle (wAngle), it is possible to determine which lane the vehicle 10 is currently driving is located in.

5A and 5B are flowcharts for explaining a driving lane classification method according to another embodiment of the present invention.

5A and 5B, the control unit 150 measures the current location of the vehicle 10 through the position measurement unit 140 (S502), and stores the road width for each lane for the current location in the storage unit 130. It is determined whether it is stored in (S504). That is, since the storage unit 130 stores road widths for each lane of roads on which the vehicle 10 has performed lane division, the control unit 150 determines that the information on the road widths for each lane is stored because the current road is a previously visited road. You can determine if it is stored.

As a result of the determination in step S504, if the road width for each lane for the current location is stored in the storage unit 130, the controller 150 obtains the road width for each lane of the corresponding road from the storage unit 130 (S506).

Then, the controller 150 determines whether the vehicle 10 is located in the rightmost lane or the leftmost lane (S508). In this case, the controller 150 may determine whether the vehicle 10 is located in the rightmost lane or the leftmost lane by using the position measured by the position measuring unit 140 .

As a result of the determination in step S508, if the vehicle 10 is located in the leftmost lane or the rightmost lane, the controller 150 determines whether the vehicle 10 is moving to another lane (S510).

As a result of the determination in step S510, when the vehicle 10 moves, the controller 150 classifies the lane in which the vehicle 10 is driving based on the road width (lane width) for each lane and the mileage of the vehicle 10. (S512).

As a result of the determination in step S508, if the vehicle 10 is not located in the leftmost lane or the rightmost lane, the control unit 150 outputs an instruction to move to the leftmost lane or the rightmost lane through the output unit 120 ( Steps S514) and S508 are performed.

If, as a result of the determination in step S504, if the road width for each lane for the current location is not stored in the storage unit 130, the controller 150 stores information on the road width for each lane of the corresponding road in the storage unit 130. It outputs that it is not stored through the output unit 120 (S516).

Then, when the wheel angle of the vehicle 10 is 90° (straight driving state) in the rightmost lane of the road in the driving direction of the vehicle 10, a lane division command is input (S518), and the vehicle 10 in the rightmost lane When the wheel angle of is less than 90°, the controller 150 starts measuring the distance (S520).

After starting the distance measurement, the vehicle 10 moves to the leftmost lane of the road in the driving direction (S522), and when the wheel angle of the vehicle 10 reaches 90°, the controller 150 ends the distance measurement (S524). ).

When the distance measurement is finished, the controller 150 calculates the first moving distance D traveled by the vehicle 10 from the start of the distance measurement to the end of the distance measurement (S526). In this case, the control unit 150 may calculate the first movement distance based on the circumferential length of the wheel of the vehicle 10 and the rotational speed of the wheel during movement.

When step S526 is performed, the controller 150 calculates a second movement distance in a lateral direction, which is a vertical direction of the road, based on the first movement distance (S528). In this case, the controller 150 may calculate the second movement distance using the first movement distance D and the wheel angle at the time of distance measurement.

When step S528 is performed, the controller 150 calculates the total road width based on the second moving distance and the vehicle width (S530), and divides the total road width by the number of lanes to calculate the road width for each lane (S532). In this case, the control unit 150 may receive the number of lanes from the user (driver) through the input unit 110 or automatically acquire them from the electronic map stored in the storage unit 130 .

After performing step S534, when the vehicle 10 moves in the leftmost lane (S418), the controller 150 determines the vehicle 10 based on the road width (lane width) for each lane and the mileage of the vehicle 10. The driving lane is divided (S536).

As described above, the apparatus and method for distinguishing driving lanes according to an embodiment of the present invention enable the driving lane of the host vehicle to be recognized without a separate module for identifying the driving lane of the host vehicle.

An apparatus and method for distinguishing driving lanes according to an embodiment of the present invention are applied to a navigation device capable of distinguishing lanes of a vehicle in motion to distinguish driving lanes.

An apparatus and method for dividing driving lanes according to an embodiment of the present invention can be applied not only to complex roads such as expressways, branch roads, junction roads, and intersections, but also to new roads, painted roads, and roads under construction.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention defined in the following claims are also the present invention. falls within the scope of the rights of

100: driving lane separator
110: input unit
120: output unit
130: storage unit
140: position measuring unit
150: control unit

Claims (14)

input unit; and
When a lane division command is input through the input unit, a movement distance traveled from one edge lane of the road to the other edge lane of the road in the driving direction of the vehicle is calculated, and a total road width of the road is calculated based on the movement distance; , Control unit for calculating the road width for each lane based on the total road width
Driving lane separator including a.
According to claim 1,
The control unit,
After receiving the lane division command in a state where the wheel angle of the vehicle is 90° in the lane on one edge of the road, when the wheel angle in the lane on the one side edge is less than 90°, distance measurement is started, and the vehicle moves on the road Driving lane dividing device characterized in that the distance measurement is terminated when the wheel angle becomes 90 ° after moving to the other side edge lane.
According to claim 2,
The control unit,
When the distance measurement is completed, a first movement distance traveled by the vehicle from the start of the distance measurement to the end of the distance measurement is calculated, and based on the first movement distance, a second movement distance in a transverse direction that is a vertical direction of the road is calculated. and calculating the total road width based on the second travel distance and vehicle width, and calculating the road width for each lane by dividing the total road width by the number of lanes.
According to claim 3,
The control unit,
Calculate the first movement distance based on the number of rotations of the wheel and the circumference of the wheel from the start of the distance measurement to the end of the distance measurement;
and calculating the second movement distance based on the first movement distance and a wheel angle at the time of measuring the distance.
According to claim 3,
The control unit,
and calculating the total road width by summing the second moving distance and the vehicle width.
According to claim 3,
The control unit,
dividing the total road width by the number of lanes to calculate the road width for each lane;
The driving lane dividing device, characterized in that the number of lanes is received through the input unit or obtained from an electronic map stored in the storage unit.
According to claim 1,
The control unit,
After calculating the road width for each lane, when the vehicle moves in the other edge lane, a mileage of the vehicle is calculated based on at least one of a wheel circumference of the vehicle, a wheel rotation speed during movement, and a wheel angle; The driving lane dividing device, characterized in that for recognizing the lane in which the vehicle is traveling based on the driving distance and the road width of each lane.
According to claim 7,
The control unit,
Calculate a first mileage traveled by the vehicle based on the circumference of a wheel of the vehicle and the number of wheel rotations during movement, and calculate a second mileage in a transverse direction based on the first mileage and a wheel angle; , The driving lane dividing device, characterized in that for recognizing the lane in which the vehicle is traveling by dividing the second mileage by the road width for each lane.
According to claim 1,
a position measuring unit for measuring the position of the vehicle; and
a storage unit storing information on at least one road for which a road width for each lane is calculated in response to the lane division command;
The control unit,
When the current position measured through the position measuring unit is a road stored in the storage unit, the road width for each lane of the corresponding road is obtained from the storage unit, and the vehicle moves from the one edge lane or the other edge lane Calculate the mileage of the vehicle based on at least one of the wheel circumference of the vehicle, the number of wheel revolutions during movement, and the wheel angle of the vehicle, and determine the lane in which the vehicle is traveling based on the mileage and the road width for each lane. Driving lane dividing device characterized in that for recognizing.
calculating, by a controller, a movement distance from a lane at one edge of the road to a lane at the edge of the other side of the road in the driving direction of the vehicle, when a lane division command is input;
calculating, by the control unit, a total road width of the road based on the moving distance;
calculating, by the control unit, a road width for each lane based on the total road width; and
When the vehicle moves in the other edge lane, the control unit calculates the mileage of the vehicle using at least one of the wheel circumference of the vehicle, the number of wheel revolutions during movement, and the wheel angle, and calculates the mileage and the vehicle mileage. Recognizing a lane in which the vehicle is traveling based on a selected road width
Driving lane classification method comprising a.
According to claim 10,
The step of calculating the movement distance is,
After receiving the lane division command in a state where the wheel angle of the vehicle is 90° in the one-side edge lane of the road, the controller starts distance measurement when the wheel angle in the one-side edge lane becomes less than 90°. terminating distance measurement when the wheel angle reaches 90° after the vehicle moves to the edge of the other lane;
calculating, by the control unit, a first movement distance based on a wheel rotation speed and a wheel circumference of the vehicle from the start of the distance measurement to the end of the distance measurement; and
and calculating, by the control unit, the second movement distance using the first movement distance and a wheel angle at the time of measuring the distance.
According to claim 11,
In the step of calculating the total road width of the road,
The control unit calculates the total road width by calculating the sum of the second moving distance and the vehicle width.
According to claim 10,
In the step of calculating the road width for each lane,
The control unit calculates the road width for each lane by dividing the total road width by the number of lanes,
The method of distinguishing driving lanes, characterized in that the number of lanes is input through an input unit or obtained from an electronic map stored in a storage unit.
According to claim 10,
In the step of recognizing the lane in which the vehicle is driving,
The control unit calculates a first travel distance traveled by the vehicle based on the wheel circumference of the vehicle and the number of wheel rotations during movement, and calculates a second travel distance in a transverse direction based on the first travel distance and wheel angle. The driving lane classification method of claim 1 , wherein a distance is calculated, and a lane in which the vehicle is traveling is recognized by dividing the second mileage by a road width for each lane.

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