KR102217973B1 - Lane guide apparatus and method for guiding lane - Google Patents

Abstract

A lane guide device according to an embodiment includes a memory capable of storing information on a width of a lane in an area where a user vehicle is located, a first reference object located on a first side of the user vehicle, and a second side different from the first side. A sensor capable of recognizing a second reference object positioned at and a control unit for recognizing a lane in which the user vehicle is located, based on information on the distance and lane width between the first reference object and the second reference object. have.

Description

Lane guide device and lane guide method {LANE GUIDE APPARATUS AND METHOD FOR GUIDING LANE}

The invention disclosed by the present application relates to a lane guide device and a lane guide method.

When road maintenance is insufficient, it may be difficult for the driver to visually recognize the lane of the lane due to bad weather or obstruction by nearby vehicles. In particular, in recent years, research on unmanned autonomous driving technology is becoming active. When an autonomous vehicle causes a lane recognition error, there is a risk that a large accident may occur due to lack of cognitive ability and coping ability than humans.

Therefore, in order to solve this problem, there is an increasing demand and interest in a technology for guiding a vehicle to travel along a lane.

According to an embodiment, there may be provided a lane guide device and a lane guide method that help to drive a vehicle along a virtual lane generated based on an interval between a lane according to each region or international standard.

The problem to be solved is not limited to the above-described problems, and problems that are not mentioned will be clearly understood by those of ordinary skill in the art from the present specification and the accompanying drawings.

According to an aspect, a memory capable of storing information on a width of a lane in an area in which the user vehicle is located, a first reference object located on a first side of the user vehicle, and a second reference object located on a second side different from the first side. A lane guide device is provided, which includes a sensor capable of recognizing a reference object and a control unit for recognizing a lane in which a user vehicle is located based on information on the distance and lane width between the first reference object and the second reference object. Can be.

The lane guide device may further include a communication unit capable of receiving information on the width of a lane in an area where the user vehicle is located from an external device.

The lane guide device may further include an output unit that provides an alarm when the lane in which the user's vehicle is located is changed.

The lane guide device may further include a display unit that displays a lane in which the user vehicle is located.

In this case, the first reference object may be any one of a center separator, a sidewalk edge, and a guide rail.

In this case, the first reference object may be a first vehicle, and the second reference object may be a second vehicle.

The control unit may recognize a lane in which the vehicle is located from the first reference object based on the information on the lane width.

The information about the lane width may include the width of the first lane and the width of the second lane different from the width of the first lane, and the control unit recognizes the lane where the vehicle is located from the second reference object based on the information about the lane width. can do.

The control unit recognizes the first lane where the vehicle is located from the first reference object, based on information about the lane width, and determines a second lane where the vehicle is located from the second reference object, based on the information about the lane width. It is recognized, and when the first lane and the second lane do not match, it may be determined that the lane in which the user vehicle is located is changed.

According to another aspect, obtaining information on a width of a lane in an area in which the user vehicle is located through a memory or a communication unit, recognizing a first reference object located at a first side through a sensor, and a first Recognizing a second reference object located on a second side different from the side, and recognizing a lane in which the user vehicle is located based on information about the distance between the first reference object and the second reference object and the width of the local lane A car guide method including the step of: may be provided.

The lane guide method may further include recognizing a lane in which the vehicle is located from the first reference object, based on information about the lane width.

In the lane guide method, the information on the lane width includes the width of the first lane and the width of the second lane different from the width of the first lane, and the lane where the vehicle is located from the second reference object is determined based on the information on the lane width. It may further include the step of recognizing.

According to an embodiment, virtual lanes are generated based on an interval of lanes according to regional or international standards, so that it is easy for a driver to drive along the lanes.

Effects according to the embodiments are not limited to the above-described effects, and effects not mentioned will be clearly understood by those of ordinary skill in the art from the present specification and the accompanying drawings.

1 is an internal block diagram of a road guide device according to an exemplary embodiment.
2 is a diagram illustrating a display unit of a road guide device according to an exemplary embodiment.
3 is a flowchart illustrating a method of operating a road guide device according to an exemplary embodiment.
4 is a diagram illustrating a lane through which a lane guide device can recognize a lane in which a user vehicle is located, according to an exemplary embodiment.
FIG. 5 is a diagram illustrating a lane through which a lane guide device can recognize a lane in which a user vehicle is located, according to another exemplary embodiment.

The terms used in the embodiments have selected general terms that are currently widely used as possible while considering functions in the present invention, but this may vary depending on the intention or precedent of a technician working in the field, the emergence of new technologies, and the like. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning of the terms will be described in detail in the description of the corresponding invention. Therefore, the terms used in the present invention should be defined based on the meaning of the term and the overall contents of the present invention, not a simple name of the term.

When a part of the specification is said to "include" a certain component, it means that other components may be further included rather than excluding other components unless otherwise stated. In addition, terms such as "... unit" and "... module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software.

Some embodiments of the present disclosure may be represented by functional block configurations and various processing steps. Some or all of these functional blocks may be implemented with various numbers of hardware and/or software components that perform specific functions. For example, the functional blocks of the present disclosure may be implemented by one or more microprocessors, or may be implemented by circuit configurations for a predetermined function. In addition, for example, the functional blocks of the present disclosure may be implemented in various programming or scripting languages. The functional blocks may be implemented as an algorithm executed on one or more processors. In addition, the present disclosure may employ conventional techniques for electronic environment setting, signal processing, and/or data processing. Terms such as “mechanism”, “element”, “means” and “composition” may be used widely, and are not limited to mechanical and physical configurations.

In addition, the connecting lines or connecting members between the components illustrated in the drawings are merely illustrative of functional connections and/or physical or circuit connections. In an actual device, connections between components may be represented by various functional connections, physical connections, or circuit connections that can be replaced or added.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein.

1 is an internal block diagram of a road guide device according to an exemplary embodiment. Referring to FIG. 1, the lane guide device 100 includes a communication unit 110, an input unit 120, a sensing unit 125, a memory 130, an output unit 140, a vehicle driving unit 150, and a vehicle driving assistance system. (ADAS, 160), a control unit 170, an interface unit 180, and a power supply unit 190 may be included.

The above-described components are an embodiment of the components of the lane guide device 100, and the lane guide device 100 does not have to include all of the above-described components, and the lane guide device 100 has the above-described configuration. Of course, other components may be further included in addition to the elements.

For example, depending on the degree to which the lane guide device 100 intervenes in the operation of the user vehicle, the lane guide device 100 may indirectly guide the user vehicle through the output unit, or the lane guide device 100 It is also possible to guide the user's vehicle more actively and directly through the vehicle driving unit.

The lane guide device 100 may include components of a general vehicle. Alternatively, the lane guide device 100 may be provided in the form of an image recording device such as a general navigation system.

The communication unit 110 may include a short-range communication module, a location information module, an optical communication module, and a V2X communication module.

The communication unit 110 may receive information on roads and lanes in an area where the user vehicle is located from an external device. The external device may be, for example, a server that provides traffic information and traffic-related laws of a corresponding region.

The input unit 120 may include a driving operation means, a camera, a microphone, and a user input unit.

The driving operation means receives a user input for driving the vehicle. The driving operation means may include a steering input means, a shift input means, an acceleration input means, and a brake input means.

The acceleration input means receives an input for acceleration of the vehicle from a user. The brake input means receives an input for deceleration of the vehicle from a user.

The camera may include an image sensor and an image processing module. The camera can process still or moving images obtained by an image sensor (eg CMOS or CCD). The image processing module may process a still image or a moving image acquired through an image sensor, extract necessary information, and transmit the extracted information to the controller 170.

Meanwhile, the vehicle may include a front camera for capturing a front image of the vehicle, an around view camera for capturing an image around the vehicle, and a rear camera for capturing a rear image of the vehicle. Each camera may include a lens, an image sensor and a processor. The processor may computer-process the captured image to generate data or information, and transmit the generated data or information to the controller 170. The processor included in the camera may be controlled by the controller 170.

The camera may comprise a stereo camera. In this case, the processor of the camera may detect a distance to an object, a relative speed with an object detected in the image, and distances between a plurality of objects using a difference in disparity detected in the stereo image.

The camera may include a Time of Flight (TOF) camera. In this case, the camera may include a light source (eg, infrared or laser) and a receiver. In this case, the processor of the camera detects the distance to the object, the relative speed with the object, and the distance between a plurality of objects based on the time until the infrared or laser emitted from the light source is reflected and received (TOF). can do.

Meanwhile, the rear camera may be disposed near the rear license plate or the trunk or the tail gate switch, but the position at which the rear camera is disposed is not limited thereto.

Each image captured by the plurality of cameras is transmitted to a processor of the camera, and the processor synthesizes each image to generate an image around the vehicle. In this case, the image around the vehicle may be displayed as a top view image or a bird's eye image through the display unit.

The sensing unit 125 senses various situations of the vehicle. To this end, the sensing unit 125 includes a collision sensor, a wheel sensor, a speed sensor, a tilt sensor, a weight detection sensor, a heading sensor, a yaw sensor, and a gyro sensor. , Position module, vehicle forward/reverse sensor, battery sensor, fuel sensor, tire sensor, steering sensor by steering wheel rotation, vehicle interior temperature sensor, vehicle interior humidity sensor, ultrasonic sensor, illumination sensor, radar, rider, etc. It may include.

Accordingly, the sensing unit 125 includes vehicle collision information, vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle inclination information, vehicle forward/reverse information, and battery information. , Fuel information, tire information, vehicle lamp information, vehicle internal temperature information, vehicle internal humidity information, steering wheel rotation angle, vehicle external illumination, and the like may be acquired.

The sensing unit may detect an object located around the user's vehicle. For example, the sensing unit may detect the presence of objects located in each direction with respect to the user's vehicle, a distance to the object, a moving direction and a moving speed of the object.

The memory 130 is electrically connected to the control unit 170. The memory 130 may store basic data for a unit, control data for controlling the operation of the unit, and input/output data. In terms of hardware, the memory 130 may be various storage devices such as ROM, RAM, EPROM, flash drive, and hard drive. The memory 130 may store various data for operation of the vehicle, such as a program for processing or controlling the controller 170.

The memory 130 may store information on roads and lanes in an area where the user vehicle is located. The memory 130 may store information on roads and lanes received through the communication unit 110 or may store information on roads and lanes received from a user through an input unit.

The output unit 140 is for outputting information processed by the control unit 170 and may include a display unit, an audio output unit, and a haptic output unit.

When the lane in which the user's vehicle is located is changed according to a command from the control unit, the output unit 140 provides a visual method through the display unit, an audible method through the sound output unit, or a tactile method through the haptic output unit Can notify the user of the change of

The display unit may display information processed by the controller 170. For example, the display unit may display vehicle-related information. Here, the vehicle-related information may include vehicle state information indicating the current state of the vehicle or vehicle operation information related to the operation of the vehicle. For example, the display unit may display current vehicle speed (or speed), speed (or speed) of surrounding vehicles, and distance information between the current vehicle and surrounding vehicles. The display unit may display a lane of a lane in which the user vehicle is located, recognized by the controller according to a command from the controller.

Meanwhile, the display unit may include a cluster so that the driver can check vehicle status information or vehicle operation information while driving. Clusters can be placed on the dashboard. In this case, the driver can check information displayed on the cluster while keeping his gaze in front of the vehicle.

The sound output unit converts the electrical signal from the control unit 170 into an audio signal and outputs it. To this end, the sound output unit may include a speaker or the like.

The vehicle driving unit 150 may control operations of various vehicle devices. The vehicle driving unit 150 may include a power source driving unit, a steering driving unit, a brake driving unit, a lamp driving unit, an air conditioning driving unit, a window driving unit, an airbag driving unit, a sunroof driving unit, and a suspension driving unit.

The power source driving unit may perform electronic control on the power source in the vehicle. For example, when a fossil fuel-based engine (not shown) is a power source, the power source driving unit may perform electronic control on the engine. Thereby, it is possible to control the output torque of the engine and the like. When the power source driver is an engine, the speed of the vehicle may be limited by limiting the engine output torque according to the control of the controller 170.

The brake driving unit may perform electronic control of a brake apparatus (not shown) in the vehicle. For example, by controlling the operation of a brake disposed on a wheel, it is possible to reduce the speed of the vehicle. As another example, the driving direction of the vehicle may be adjusted to the left or to the right by differently operating brakes disposed on the left and right wheels.

The lamp driver may control turning on/off of lamps disposed inside or outside the vehicle. In addition, it is possible to control the light intensity and direction of the lamp. For example, it is possible to control a direction indicator lamp, a brake lamp, and the like.

The controller 170 may control the overall operation of each unit in the vehicle. The control unit 170 may be referred to as an ECU (Electronic Control Unit). The above-described collision preventing device may be driven by the control unit 170.

In hardware, the control unit 170 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), and processors. processors), controllers, micro-controllers, microprocessors, and electrical units for performing other functions.

In one embodiment, the control unit 170 captures a road image using an ADAS camera while the vehicle is driving, acquires horizontal data of the road from the photographed road image, and calculates the body inclination using the vehicle sensor while the vehicle is driving. The measured tilt data is acquired, and the position of the ADAS camera is corrected based on the acquired horizontal data and tilt data.

The interface unit 180 may serve as a passage for various types of external devices connected to the vehicle. For example, the interface unit 180 may include a port that can be connected to a mobile terminal (not shown), and can be connected to a mobile terminal (not shown) through the port. In this case, the interface unit 180 may exchange data with the mobile terminal.

The power supply unit 190 may supply power required for operation of each component under the control of the controller 170. In particular, the power supply unit 190 may receive power from a battery (not shown) inside the vehicle.

2 is a diagram illustrating a display unit of the lane guide device 100 according to an exemplary embodiment. Referring to FIG. 2, when road maintenance is insufficient, it may be difficult to visually recognize a lane of a lane due to bad weather or obstruction by nearby vehicles.

In this case, the lane guide device 100 recognizes the lanes a1 and a2 of the lane in which the vehicle is located through sensors and information about the lane so that the vehicle can travel along the lanes a1 and a2. The lanes a1 and a2 of the located lane may be displayed through the display unit. Alternatively, the lane guide device 100 may notify the user through the output unit 140 when the vehicle changes lanes.

The lane guide device 100 will be described in more detail later with reference to FIGS. 3 to 5 for recognizing the lanes a1 and a2 based on the sensor and information about the lane.

The lane guide device 100 may photograph the surroundings of the vehicle, particularly the front of the vehicle through a camera. The lane guide device 100 may virtually generate lanes a1 and a2 of the recognized lane in the captured image and visually display the lanes a1 and a2 on the display unit.

To this end, the lane guide device 100 may analyze the captured image to recognize the user's vehicle, and display lanes a1 and a2 of the lane based on the user vehicle. Alternatively, the lane guide device 100 analyzes the captured image, recognizes objects such as the central separation zone 1400 of the road, the sidewalk edge 1500, and the guide rail, and based on these objects, the lanes a1 and a2 of the lane Can also be displayed.

3 is a flowchart illustrating a method of operating the lane guide device 100 according to an exemplary embodiment.

First, the lane guide device 100 may obtain information on the width of a lane in an area where the user vehicle is located through the memory 130 or the communication unit 110 (S1100). The width of roads and lanes, the types of lanes, the color of the lanes, the width of the lanes, the central divider in the road, the footpaths, the installation of guide rails, and the shape of each region are designed according to different standards.

Accordingly, in order to accurately recognize the lane, the lane guide device 100 may obtain information on the lane in an area where the user vehicle is located. The lane guide device 100 may obtain information about a lane input to the memory 130 or information about a lane from an external device and an external server through the communication unit 110.

Thereafter, the lane guide device 100 may recognize a first reference object positioned at the first side and a second reference object positioned at the second side through a sensor (S1200). Specifically, the lane guide device 100 may detect a distance between a reference object and a user vehicle, or a moving speed and a moving direction of the reference object when the reference object moves.

The reference object may be any one of a center separator 1400, a sidewalk stone 1500, and a guide rail. This will be described in more detail later with reference to FIG. 4. Alternatively, the reference object may be a vehicle around the user's vehicle. This will be described in more detail later with reference to FIG. 5.

Thereafter, based on the information on the distance and the width of the lane between the first reference object and the second reference object, a lane in which the user vehicle is located may be recognized (S1300). The lane guide device 100 may display a lane in which the user's vehicle is located within an image captured using a camera through the output unit 140. Alternatively, when the lane in which the user's vehicle is located is changed, the lane guide device 100 may provide an alarm through the output unit 140.

4 is a diagram of a lane through which the lane guide device 100 can recognize a lane in which a user vehicle is located, according to an exemplary embodiment. Although it is shown that there are three lanes 1100, 1200, and 1300 in FIG. 4, this is only an example, and the number of lanes may vary.

In FIG. 4, the vehicle 2100 is traveling along the lane 1100, and the lane guide device 100 may detect reference objects around the vehicle 2100 through the sensing unit 125. For example, the lane guide device 100 may detect the center separator 1400 on the left side of the vehicle 2100 through a proximity sensor, and may use the center separator 1400 as a first reference object.

In addition, the lane guide device 100 may detect the sidewalk curb 1500 on the right side of the vehicle 2100 through the sensing unit 125, and may use the sidewalk curb 1500 as a second reference object.

The lane guide device 100 may store information on a lane in a corresponding area. For example, the lane guide device 100 includes the width of the lane 1100, the width of the lane 1200, and the width of the lane 1300. , Information about a distance from the right lane of the lane 1300 to the sidewalk 1500 may be stored.

The lane guide device 100 provides a user vehicle based on information on a lane in a corresponding area, a distance between a first reference object and a second reference object, a distance between a first reference object and a vehicle, and a distance between a second reference object and a vehicle. The lane on which this is located can be recognized.

For example, when the distance d1 between the first reference object and the vehicle 2100 is less than the lane width L1, the lane guide device 100 may determine that the vehicle 2100 is located in the lane 1100. I can. In addition, when the distance d1 between the first reference object and the vehicle 2100 is greater than the lane width L1 but smaller than the sum of the lane width L1 and the lane width L2, the vehicle It may be determined that 2100 is located in the lane 1200. Further, in the lane guide device 100, the distance d1 between the first reference object and the vehicle 2100 is greater than the sum of the lane width L1 and the lane width L2, but the lane width L1 and the lane width L2 ) And the lane width L3, it may be determined that the vehicle 2100 is located in the lane 1300.

As another example, when the distance d2 between the second reference object and the vehicle 2100 is smaller than the lane width L3, the lane guide device 100 is assumed to be located in the lane 1300. I can judge. In addition, when the distance d2 between the second reference object and the vehicle 2100 is larger than the lane width L3 but smaller than the sum of the lane width L3 and the lane width L2, the vehicle It may be determined that 2100 is located in the lane 1200. Also, in the lane guide device 100, the distance (d2) between the second reference object and the vehicle 2100 is greater than the sum of the lane width (L3) and the lane width (L2), but the lane width (L3) and the lane width (L2) ) And the lane width L1, it may be determined that the vehicle 2100 is located in the lane 1100.

As another example, the lane guide device 100 includes a lane in which the vehicle 2100 is located, determined based on the distance d1 between the first reference object and the vehicle 2100, and the second reference object and the vehicle 2100. When comparing the lanes where the vehicle 2100 is located based on the inter-distance d2, if they do not match, it may be determined that a part of the vehicle 2100 is in an area overlapping the lane, that is, a lane guide In this case, the device 100 may determine that the lane in which the user vehicle 2100 is located is changed.

5 is a diagram of a lane through which the lane guide device 100 can recognize a lane in which the user vehicle 2100 is located, according to another exemplary embodiment. Referring to FIG. 5, the reference object may be vehicles 2200 and 2300. For example, the first reference object may be the first vehicle 2300 on the left side of the user vehicle 2100, and the second reference object may be the second vehicle 2400 on the right side of the user vehicle.

The lane guide device 100 is based on the distance d3 between the first vehicle 2300 and the user vehicle 2100 and the distance d4 between the second vehicle 2400 and the user vehicle 2100, The distance between the 2300 and the second vehicle 2400 may be acquired. In this case, the lane guide device 100 may pre-designate a value corresponding to the width d0 of the user vehicle 2100.

The lane guide device 100 includes information on a lane in a corresponding region, the distance between the first vehicle 2300 and the second vehicle 2400, the distance d3 between the user vehicle 2100 and the first vehicle 2300, and the user A lane in which the user vehicle 2100 is located may be recognized based on the distance d4 between the vehicle 2100 and the second vehicle 2400.

For example, in the lane guide device 100, the distance d3 between the first vehicle 2300 and the user vehicle 2100 and the distance d4 between the second vehicle 2400 and the user vehicle 2100 have the same value. If possible, the driving of the user vehicle 2100 may be induced.

For example, the lane guide device 100 draws a center point of a virtual line connecting the first vehicle 2300 and the second vehicle 2400 according to the width of a lane in a corresponding region and a virtual line drawing the width of the lane in the region. You can create lanes for lanes in the area so that the center points coincide. The lane guide device 100 may display the generated lane of the lane of the corresponding region through the display.

A device according to an embodiment includes a processor, a memory for storing and executing program data, a permanent storage such as a disk drive, a communication port for communicating with an external device, a touch panel, a user such as a key, a button, etc. It may include an interface device or the like. Methods implemented as software modules or algorithms may be stored on a computer-readable recording medium as computer-readable codes or program instructions executable on the processor. Here, as a computer-readable recording medium, a magnetic storage medium (e.g., read-only memory (ROM), random-access memory (RAM), floppy disk, hard disk, etc.) and optical reading medium (e.g., CD-ROM ) And DVD (Digital Versatile Disc). The computer-readable recording medium is distributed over network-connected computer systems, so that computer-readable codes can be stored and executed in a distributed manner. The medium is readable by a computer, stored in memory, and executed on a processor.

Reference numerals are described in the embodiments shown in the drawings, and specific terms are used to describe the embodiments, but the present invention is not limited by specific terms, and the embodiments are all configurations commonly conceived by those skilled in the art. Can contain elements.

An embodiment may be represented by functional block configurations and various processing steps. These functional blocks may be implemented with various numbers of hardware or/and software configurations that perform specific functions. For example, the embodiment is an integrated circuit configuration such as memory, processing, logic, a look-up table, etc., capable of executing various functions by controlling one or more microprocessors or other control devices Can be hired. Similar to how the components of the present invention can be implemented with software programming or software elements, embodiments include various algorithms implemented with a combination of data structures, processes, routines or other programming components, including C, C++. , Java, assembler, or the like may be implemented in a programming or scripting language. Functional aspects can be implemented with an algorithm running on one or more processors. In addition, the embodiments may employ conventional techniques for electronic environment setting, signal processing, and/or data processing. Terms such as “mechanism”, “element”, “means”, and “composition” can be used widely, and are not limited to mechanical and physical configurations. The term may include the meaning of a series of routines of software in connection with a processor or the like.

Specific implementations described in the embodiments are examples, and do not limit the scope of the embodiments in any way. For brevity of the specification, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of the lines between the components shown in the drawings exemplarily represent functional connections and/or physical or circuit connections, and in an actual device, various functional connections that can be replaced or additionally It may be referred to as a connection, or circuit connections. In addition, if there is no specific mention such as “essential” or “importantly”, it may not be an essential component for the application of the present invention.

In the specification of the embodiment (especially in the claims), the use of the term “above” and a similar reference term may correspond to both the singular and the plural. In addition, when a range is described in an embodiment, the invention to which individual values falling within the range are applied (unless otherwise stated), it is the same as describing each individual value constituting the range in the detailed description. . Finally, if there is no clearly stated or contrary to the order of steps constituting the method according to the embodiment, the steps may be performed in an appropriate order. The embodiments are not necessarily limited according to the order of description of the steps. The use of all examples or illustrative terms (for example, etc.) in the embodiments is merely for describing the embodiments in detail, and the scope of the embodiments is limited by the above examples or illustrative terms unless limited by the claims. It is not. In addition, those skilled in the art can recognize that various modifications, combinations, and changes may be configured according to design conditions and factors within the scope of the appended claims or their equivalents.

Guide device with 100 lanes
140 output
1100 cars
1400 center separator
1500 Indian Curb Stone
2100 vehicles

Claims (12)

A communication unit configured to receive information on a width of a lane in an area where the user vehicle is located from an external device;
A memory for storing information on a width of a lane in an area where the user vehicle is located;
A sensor for recognizing a first reference object located on the left side of the user vehicle and a second reference object located on the right side of the user vehicle;
A virtual first to recognize a lane in which the user vehicle is located based on the distance between the first reference object and the second reference object and information on the lane width, and connect the first reference object and the second reference object The left lane and the right lane are created so that the center point of the line coincides with the center point of the virtual second line connecting the left lane of the lane where the user vehicle is located and the left lane and the right lane separated by the width of the local lane A control unit; And
A display unit for displaying the left lane and the right lane of a lane in which the user vehicle is located; Including
Guide device by car. delete The method of claim 1,
An output unit that provides an alarm when the lane in which the user vehicle is located is changed; further comprising
Guide device by car. delete The method of claim 1,
The first reference object is any one of a central separator, a sidewalk curb, and a guide rail.
Guide device by car. The method of claim 1,
The first reference object is a first vehicle,
The second reference object is a second vehicle
Guide device by car. The method of claim 1,
The control unit,
Recognizing a lane in which the vehicle is located from the first reference object based on information on the lane width,
Guide device by car. The method of claim 1,
The control unit,
The information on the lane width includes a first lane width and a second lane width different from the first lane width,
Recognizing a lane in which the vehicle is located from the second reference object based on the information on the lane width,
Guide device by car. The method of claim 1,
The control unit,
Recognizing a first lane where the vehicle is located from the first reference object based on the information on the lane width,
Recognizing a second lane where the vehicle is located from the second reference object based on the information on the lane width,
If the first lane and the second lane do not match, determining that the lane in which the user vehicle is located is changed,
Guide device by car. delete delete delete

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