KR20130057852A - Navigation system and method for judging traveling route breakless of vehicle using traveling information thereof - Google Patents

Abstract

A steering angle sensor for detecting a steering angle of the vehicle; A vehicle speed sensor detecting a speed of the vehicle; A lateral acceleration sensor for sensing lateral acceleration of the vehicle; A rotational angular velocity sensor for detecting a rotational angular velocity of the vehicle; A camera image recognition module generating camera image recognition information; And an ECU that acquires driving information data of the current vehicle by using the detected steering angle, speed, lateral acceleration, rotational angular velocity, and camera image recognition information, and determines whether the vehicle is out of route by comparing with the predetermined driving information. There is provided a navigation system comprising a.

Description

NAVIGATION SYSTEM AND METHOD FOR JUDGING TRAVELING ROUTE BREAKLESS OF VEHICLE USING TRAVELING INFORMATION THEREOF}

The present invention relates to a method for determining a deviation of a vehicle's driving path using a navigation system and driving information. Specifically, the present invention relates to a driving path of a predetermined moving object including a vehicle, and guides the moving object along the searched driving path. In this case, the present invention relates to a navigation system for determining whether the moving object travels a different route by moving away from the searched driving route, and a method for determining a driving route deviation of the vehicle using driving information.

In general, a vehicle navigation system includes a transmission signal transmitted by a plurality of GPS satellites belonging to a global positioning system (GPS), and a detection signal of a plurality of sensors installed in a moving object such as a gyroscope and a speed sensor. The present invention provides a function of detecting a current position of a moving object currently traveling, and searching a driving route from a starting point to a destination by comparing the detected current position with map data.

When the moving object travels along the searched driving path, a predetermined guide object including an intersection, an underground driveway, an overpass or an expressway entrance / exit road, etc. is searched in front of the moving object of the moving object, and the moving object of the search target is searched. When approaching within a predetermined distance, the driving route of the moving object at the guide target position is guided by a voice signal, etc., and the moving object is separated from the driving route to determine whether the route is to be driven on another road. When it is determined that the path of the moving object is notified to the user, the moving object can be accurately driven along the driving path.

Korean Patent Laid-Open Publication No. 10-2006-0074169 (Invention name: Determination method of the path deviation of the moving object in the navigation system. Disclosure of July 2006) discloses the departure of the driving path even if the moving object leaves the driving path in a complicated link such as an intersection. A technique is described which temporarily holds the judgment and alerts the departure of the driving route when the departure of the driving route is accurately determined.

Korean Patent Laid-Open Publication No. 10-2006-0091616 (name of the invention: Determination of the path deviation of the moving object in the navigation system. Published on August 21, 2006) discloses the distance on the driving path from the position of the moving object when the moving object leaves the driving path. The technique for judging and guiding departure of the driving route when the determined distance is equal to or greater than the allowable value is described.

However, in the conventional case, when the vehicle is basically installed in the vehicle or the driver receives the route guidance using a separately purchased navigation, the vehicle position may be changed after a certain time when the route deviation occurs at an intersection, an elevated entry, or an underground roadway entry section. It will be displayed on the map and you will be able to find a new route by checking your departure. Some products are more accurate because G-sensor is embedded in the product itself, so it is possible to know whether to enter the elevated or underground roads, but it is reported that an error occurs in actual use.

For example, in FIG. 1 and FIG. 2, although the elevated road entry guidance is performed, there is a problem of guiding a route as the elevated road is entered for a while even without entering the elevated road.

The problem to be solved by the present invention is that when the navigation guidance from the vehicle installed in the vehicle to the route guidance to the destination, when the navigation deviated from the route guided by the inadvertent or complicated road conditions of the driver, the navigation deviates with a minimum delay time The present invention provides a navigation system and a driving method for determining a deviation of a driving route of a vehicle using driving information.

According to one aspect of the invention, the steering angle sensor for detecting a steering angle of the vehicle; A vehicle speed sensor detecting a speed of the vehicle; A lateral acceleration sensor for sensing lateral acceleration of the vehicle; A rotational angular velocity sensor for detecting a rotational angular velocity of the vehicle; A camera image recognition module generating camera image recognition information; And an ECU that acquires driving information data of the current vehicle by using the detected steering angle, speed, lateral acceleration, rotational angular velocity, and camera image recognition information, and determines whether the vehicle is out of route by comparing with the predetermined driving information. There is provided a navigation system comprising a.

The ECU may include: a receiver configured to receive steering angle, speed, lateral acceleration, rotational angular velocity, and camera image recognition information of the vehicle detected from the steering angle sensor, the vehicle speed sensor, the lateral acceleration sensor, the rotational angular velocity sensor, and the camera image recognition module; A calculator configured to calculate driving path information of the vehicle using the received steering angle, speed, lateral acceleration, rotation angle speed, and camera image recognition information; A determination unit that determines whether the vehicle leaves the path by comparing the calculated driving path information with the predetermined driving information; And a guide unit for guiding, by voice or video, that the vehicle deviated from the predetermined driving route when the vehicle deviates from the path.

The steering angle sensor, vehicle speed sensor, lateral acceleration sensor, and rotational angular velocity sensor may be connected to the ECU through SPI communication.

The steering angle sensor, the vehicle speed sensor, the lateral acceleration sensor, and the rotational angular velocity sensor may be sensors provided in ABS, ESC, and MDPS connected to the ECU through chassis communication.

The navigation system may further include an illumination sensor.

According to another aspect of the invention, the steering angle sensor, vehicle speed sensor as a steering path deviation determination method of a navigation system including a steering angle sensor, a vehicle speed sensor, a lateral acceleration sensor, a rotation angle sensor, a camera image recognition module and an ECU installed in the vehicle, Receiving a steering angle, a speed, a lateral acceleration, a rotational angular velocity, and camera image recognition information of the vehicle detected from the lateral acceleration sensor, the rotational angular velocity sensor, and the camera image recognition module; Calculating driving route information of the current vehicle by using the received steering angle, vehicle speed, lateral acceleration, rotation angle speed, and camera image recognition information; Determining whether the vehicle deviates from the path by comparing the calculated driving path information with predetermined driving information; And a voice or video guiding that the vehicle deviated from the predetermined driving route when the vehicle deviates from the vehicle.

The driving path deviation determination method of the vehicle may further include calculating driving path information by receiving an illumination value from an illumination sensor.

According to the present invention, it is possible to quickly and accurately determine whether a path deviates from various sensors installed for driving safety and convenience specifications of a driver and data extracted through camera image recognition in a driving vehicle.

Accordingly, the conventional navigation system can effectively reduce the time delay and error occurrence caused by simply determining whether the path is off by using the built-in acceleration sensor and the GPS receiver, thereby providing convenience and safety to the driver. .

In addition, the navigation system quickly determines whether the route is off and immediately executes the route rescanning so that the driver can concentrate on driving without embarrassment, and the driver does not panic and does not disturb the traffic flow of other cars. Can help you drive safely.

In addition, according to the present invention, since the driving information of the vehicle can be reflected through the in-vehicle network, it is possible to functionally differentiate from a general commercial navigation system.

1 and 2 are screen examples for explaining a conventional navigation system.
3 is a block diagram illustrating a navigation system using driving information of a vehicle according to an exemplary embodiment of the present invention.
4 is a flowchart illustrating a method of determining whether a route deviates from a navigation system using driving information of a vehicle according to an exemplary embodiment of the present invention.
5 is a screen exemplary view for explaining an application example according to an embodiment of the present invention.
6 is an exemplary screen illustrating an application example according to another embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided as examples to ensure that the spirit of the invention to those skilled in the art will fully convey. Therefore, the present invention is not limited to the embodiments described below, but may be embodied in other forms. In the drawings, lengths, thicknesses, and the like may be exaggerated for convenience. Like numbers refer to like elements throughout.

3 is a block diagram illustrating a navigation system using driving information of a vehicle according to an exemplary embodiment of the present invention.

Referring to FIG. 3, a navigation system using driving information of a vehicle according to an exemplary embodiment of the present invention may include a steering angle sensor 10, a vehicle speed sensor 20, and a lateral acceleration sensor. an acceleration sensor 30, a rotational angular velocity sensor 40, a camera image recognition module 60, an illuminance sensor 70, a memory 80, and the sensors extracted from the sensors and the camera image recognition module 60; And an ECU 50 for quickly and accurately determining and guiding whether or not a path deviates from the information data.

The steering angle sensor 10 detects a steering angle of the vehicle and provides the detected steering angle signal to the ECU 50. The steering angle sensor 10 is installed on a steering shaft (not shown) of the steering wheel, and detects the steering angle according to the driver's steering wheel manipulation.

The vehicle speed sensor 20 is referred to as a wheel speed sensor that can sense the speed of the vehicle and detects the speed of the vehicle and provides the detected speed signal to the ECU 50.

The lateral acceleration sensor 30 detects lateral acceleration of the vehicle and provides the detected lateral acceleration signal to the ECU 50.

The rotational angular velocity sensor 40 detects the rotational angular velocity of the vehicle and provides the detected rotational angular velocity signal to the ECU 50.

According to an embodiment, the steering angle sensor 10, the vehicle speed sensor 20, the lateral acceleration sensor 30, and the rotation angular velocity sensor 40 may be connected to the ECU 50 through serial peripheral interface (SPI) communication. . Meanwhile, according to another embodiment, the steering angle sensor 10, the vehicle speed sensor 20, the lateral acceleration sensor 30, and the rotational angular velocity sensor 40 are connected to the ECU 50 via chassis communication (for example, CAN or FexRay). Can be connected. On the other hand, in the case of using chassis communication (for example, CAN or FexRay), steering angle sensor 10, vehicle speed sensor 20, lateral acceleration sensor 30, rotational angular velocity sensor 40, illumination sensor 70, camera image recognition The module 60 may be, for example, sensors used in an anti-lock braking system (ABS), an electronic stability control (ESC), and a motor-driven electric power steering (MDPS).

The ECU 50 controls the driving state of the vehicle from the steering angle sensor 10, the vehicle speed sensor 20, the lateral acceleration sensor 30, and the rotation angle velocity sensor 40, the camera recognition module 60, and the illumination sensor 70. By detecting it, it is possible to quickly and accurately determine and guide whether the vehicle deviates from the path.

The ECU 50 is a steering angle sensor 10, a vehicle speed sensor 20, a lateral acceleration sensor 30, a rotation angle velocity sensor 40, a steering angle received from the illumination sensor 70, a velocity, a lateral acceleration, a rotation angle velocity, and an illuminance. The value is applied according to a preset calculation method to determine whether the vehicle is currently traveling on a predetermined route.

The ECU 50 includes a receiver 51, a calculator 52, a path deviation determiner 53, and a guide 54.

The receiver 51 is a steering angle of the vehicle detected from the steering angle sensor 10, the vehicle speed sensor 20, the lateral acceleration sensor 30, the rotation angle sensor 40, the camera recognition module 60, the illumination sensor 70, Receives speed, lateral acceleration, rotational angular velocity, illuminance value, and camera image recognition information.

The calculator 52 calculates driving route information of the vehicle by using the steering angle, the speed, the lateral acceleration, the rotational angular velocity, and the camera image recognition information of the vehicle received by the receiver 51.

The path deviation determining unit 53 determines whether the path is separated by determining a difference between the current driving path information of the vehicle calculated by the calculator 52 and the predetermined driving path information.

To this end, the path deviation determining unit 53 calculates a difference between the calculated driving path information of the vehicle and the predetermined driving path information. In this case, the predetermined driving route information is set by the driver and stored in the memory 80 in advance.

That is, the path deviation determining unit 53 may detect a vehicle in a branching situation such as an intersection, an elevated road / underground road entrance, an elevated road / underground road side road, etc., where the driver's path is delayed or the intentional path departure frequently occurs while the navigation is in progress. It is possible to quickly determine whether the route departure using the driving information of.

In driving conditions, there must be clearly different driving operations. For example, if you have to make a left / right turn in the forward branch while the vehicle is in motion, you will first have to change lanes and slow down for safety. Of course, you also have to turn the steering wheel.

The path deviation determiner 53 may recognize the lane through the camera image recognition of the camera image recognition module 60.

In addition, the path deviation determiner 53 receives the measurement values from the steering angle sensor 10, the vehicle speed sensor 20, the lateral acceleration sensor 30, and the rotational angular velocity sensor 40 through the calculation unit 52. Can recognize the driving information. If the corresponding driving information is not changed in the state of knowing such information, the path deviation determining unit 53 may determine that the vehicle has gone straight without turning at the intersection.

As such, the route deviation determining unit 53 provides a function such as providing feedback on map information to the navigation when using the driving data received from each controller and sensor in the vehicle, thereby further improving the accuracy of the navigation.

When the determination result of the path deviation determining unit 53 determines that the vehicle has departed from the predetermined path, the guide part 54 displays a voice or video indicating that the vehicle has departed from the predetermined path.

4 is a flowchart illustrating a method of determining whether a route deviates from a navigation system using driving information of a vehicle according to an exemplary embodiment of the present invention.

Referring to FIG. 4, the receiver 51 of the ECU 50 includes a steering angle sensor 10, a vehicle speed sensor 20, a lateral acceleration sensor 30, a rotation angular velocity sensor 40, a camera image recognition module 60, The steering angle, the speed, the lateral acceleration, the rotation angle speed, the camera image recognition information, and the illumination value of the vehicle detected by the illumination sensor 70 are received (S1).

Next, the calculation unit 52 of the ECU 50 calculates driving route information of the vehicle by using the received steering angle, speed, lateral acceleration, rotational angular velocity, camera image recognition information, and illuminance value (S2). Next, the route deviation determining unit 53 determines whether the route has deviated by determining a difference between the current driving route information of the vehicle and the predetermined driving route information calculated by the calculator 52 (S3).

As a result of determination, when the vehicle deviates from the predetermined route, the guide unit 54 guides by voice or video that the vehicle deviates from the predetermined route (S4).

By doing so, based on the sensor values mounted on the vehicle and the camera image recognition information, the driving route information such as the inclination, the speed, and the direction of the current vehicle is acquired based on the sensor values mounted on the vehicle to determine whether the vehicle is out of the route based on the driving route information. You can judge quickly and accurately.

5 is a screen exemplary view for explaining an application example according to an embodiment of the present invention.

Referring to Figure 5, the lane check through the camera image recognition before entering the intersection, whether the acceleration / deceleration pedal operation, steering angle, speed, lateral acceleration, rotational angular velocity can be checked immediately whether the path deviate, it is possible to perform a route re-search immediately Do.

6 is an exemplary screen illustrating an application example according to another embodiment of the present invention.

Referring to FIG. 6, it is possible to check the lane change and the high-ramp entry through the front camera image recognition, check the acceleration sensor and the steering angle sensor data, and determine the entry to the elevated road to immediately perform the re-search. On the other hand, according to the conventional method, since it proceeds in the same direction after entering the elevated road, it can be seen that the performance has been improved as compared with the fact that the path was not known for a while.

The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.

For example, in an exemplary embodiment of the present invention, the driving path information is determined using the steering angle, the speed, the lateral acceleration, the rotational angular velocity, the illuminance value, and the camera image recognition information. However, the present invention is not limited thereto. The sensor values used according to the present invention may be selected in various ways, and although not described herein, any number of sensors of various automobiles that are generally applied may be additionally applied as necessary.

10: steering angle sensor 20: vehicle speed sensor
30: lateral acceleration sensor 40: rotational angular velocity sensor
50: ECU 51: receiver
52: calculation unit 53: path deviation determination unit
54: guide unit 60: camera image recognition module
70: illuminance sensor 80: memory

Claims (5)

A steering angle sensor for detecting a steering angle of the vehicle;
A vehicle speed sensor for detecting the speed of the vehicle;
A lateral acceleration sensor for sensing lateral acceleration of the vehicle;
A rotational angular velocity sensor for detecting a rotational angular velocity of the vehicle;
A camera image recognition module generating camera image recognition information; And
An ECU is provided to determine driving direction of the vehicle by acquiring driving information data of the current vehicle by using the detected steering angle, speed, lateral acceleration, rotation angle speed, and camera image recognition information. Navigation system comprising a. The method according to claim 1, wherein the ECU is
A receiver configured to receive steering angle, speed, lateral acceleration, rotational angular velocity, and camera image recognition information of the vehicle detected by the steering angle sensor, the vehicle speed sensor, the lateral acceleration sensor, the rotational angular velocity sensor, and the camera image recognition module;
A calculator configured to calculate driving path information of the vehicle using the received steering angle, speed, lateral acceleration, rotation angle speed, and camera image recognition information;
A determination unit that determines whether the vehicle leaves the path by comparing the calculated driving path information with the predetermined driving information; And
The navigation system, characterized in that the guidance includes a voice or video guide that the vehicle deviated from the predetermined driving path when the path deviation of the vehicle occurs. The method according to claim 1,
A navigation system further comprising an illumination sensor. As a method of determining deviation of a driving route of a navigation system including a steering angle sensor, a vehicle speed sensor, a lateral acceleration sensor, a rotation angle sensor, a camera image recognition module, and an ECU installed in a vehicle,
Receiving steering angle, speed, lateral acceleration, rotational angular velocity, and camera image recognition information of the vehicle detected from the steering angle sensor, the vehicle speed sensor, the lateral acceleration sensor, the rotational angular velocity sensor, and the camera image recognition module;
Calculating driving route information of the current vehicle by using the received steering angle, vehicle speed, lateral acceleration, rotation angle speed, and camera image recognition information;
Determining whether the vehicle deviates from the path by comparing the calculated driving path information with predetermined driving information; And
And a voice or video guiding that the vehicle deviated from the predetermined driving route when the vehicle deviates from the vehicle. The method of claim 4,
The driving path deviation determination method of the vehicle using the driving information further comprises the step of receiving the illumination value from the illumination sensor to calculate the driving route information.

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