Method and vehicle for searching route using road shoulder parking status information

Abstract

A method and a vehicle for searching a route using shoulder parking status information. The method includes identifying vehicles parked on a shoulder by analyzing an image captured by a camera, and determining a vehicle to be reported as parked on the shoulder among the identified vehicles parked on the shoulder. A shoulder parking report message corresponding to the determined vehicle to be reported as parked on the shoulder is generated, and the shoulder parking report message is sent to a server.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2019-0161992, filed on Dec. 6, 2019, which is hereby incorporated by reference herein in its entirety. Technical Field

[0003] The present disclosure relates to vehicle route guidance, and more particularly to a technology for determining a lane state based on information about a vehicle parked on a road shoulder, which is collected by an on-vehicle camera while driving the vehicle, and searching for an optimal route based on the determination result. Background Art

[0004] In a conventional route guidance service performed by a Connected Car Service (CCS) center, the center searches for optimal / recommended / detour routes based on information about vehicles traveling on the road, traffic light information, the number of lanes on the road, speed limits, and road event information including, for example, accident information, road control information, etc., and the center provides information about the detected route to the corresponding vehicle.

[0005] However, in the case of city driving or non-signalized road driving, many vehicles may be parked on the last or outermost lane of the road (e.g., shoulder), so the corresponding lane may be unavailable. For example, in many cases, since many vehicles are parked on the last lane of a two-lane road, only the first lane is used for driving.

[0006] Conventional route guidance services using a connected car service center (or server) do not take vehicles parked on the shoulder of the road into account at all. Therefore, the route guidance service has a problem that it takes more time than expected to reach the destination and the calculated optimal route takes more time than another route. Summary of the invention

[0007] The present disclosure provides a method and system for searching a route using road shoulder parking status information. Another aspect of the present disclosure provides a method and system for searching a route using road shoulder parking status information, wherein the method and system determine a lane status based on information about a vehicle parked on a road shoulder, and search for an optimal route based on the determined result, the information being collected using a vehicle camera while driving a vehicle.

[0008] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present disclosure belongs from the following description.

[0009] According to aspects of the present disclosure, a method for searching a route using shoulder parking status information in a vehicle working in cooperation with a server via a wireless communication network may include: identifying vehicles parked on the shoulder by analyzing images captured by a camera during vehicle driving; determining which vehicles to be reported as parked on the shoulder among the identified vehicles parked on the shoulder; and generating a shoulder parking report message corresponding to the determined vehicles to be reported as parked on the shoulder, and sending the shoulder parking report message to the server.

[0010] In an exemplary embodiment, identification of a vehicle parked on the shoulder of the road may include: detecting a vehicle parked on the left or right shoulder of the road by analyzing an image captured by a front camera and calculating a first coordinate point representing the position of the detected vehicle; calculating a second coordinate point representing the position of the detected vehicle by analyzing an image captured by a rear camera; and determining the vehicle parked on the shoulder of the road by comparing the first coordinate point and the second coordinate point.

[0011] In addition, determining the vehicle parked on the shoulder by comparing the first coordinate point and the second coordinate point may include: determining that the detected vehicle is a vehicle parked on the shoulder when the first coordinate point and the second coordinate point match each other; and determining that the detected vehicle is traveling on the shoulder when the first coordinate point and the second coordinate point do not match each other. In an exemplary embodiment, determining the vehicle to be reported as parked on the shoulder may include: calculating an occupancy rate of the last or outermost lane occupied by the vehicle determined to be parked on the shoulder; and determining the vehicle to be reported as parked on the shoulder by comparing the calculated occupancy rate with a predetermined reference value.

[0012] Determining the vehicles to be reported as parked on the shoulder of the road by comparing the calculated occupancy rate with the predetermined reference value may include: when the calculated occupancy rate is greater than or equal to the reference value, determining the corresponding vehicle parked on the shoulder of the road as the vehicle to be reported as parked on the shoulder of the road; and when the calculated occupancy rate is less than the reference value, excluding the corresponding vehicle parked on the shoulder of the road from the vehicles to be reported as parked on the shoulder of the road.

[0013] The shoulder parking report message may include at least one of the following items corresponding to the vehicle determined to be reported as parked on the shoulder: information related to the time when the parking was recognized, road information, lane information, and position information. In addition, based on the shoulder parking report messages collected from different vehicles, the server may be configured to monitor the driving state change of each node section included in the initial route found to correspond to the vehicle, and based on the monitoring result, the server may be configured to determine whether to re-search the route of the vehicle.

[0014] In addition, the server may be configured to determine that a re-search of the route for the vehicle is required when the driving impossibility ratio of the node section included in the initial route exceeds a predetermined threshold value or the estimated time to reach the destination recalculated based on the driving state change changes at a predetermined ratio or more. The server may be configured to monitor the driving state change of each corresponding node section using only the shoulder stop report messages collected from the different vehicles within the predetermined driving time radius to the current position of the vehicle.

[0015] According to another aspect of the present disclosure, a method for searching a route using shoulder parking status information in a server operating with a vehicle via a wireless communication network may include: searching for an initial route to a destination set by a user based on collected shoulder parking information, and sending the found initial route to the vehicle; receiving at least one shoulder information report message corresponding to the initial route from another vehicle while driving toward the destination; monitoring driving status changes of each node interval included in the initial route based on the shoulder information report message; re-searching a route from the current position of the vehicle to the destination based on the monitoring results; and sending the rediscovered route to the vehicle.

[0016] In an exemplary embodiment, the shoulder parking report message may include at least one of the following items corresponding to the corresponding vehicle parked on the shoulder: information related to the time when the parking is recognized, road information, lane information, and position information. In addition, the server may be configured to determine that a re-search of the route for the vehicle is required when the driving impossibility ratio of the node interval included in the initial route exceeds a predetermined threshold, or the estimated time to reach the destination recalculated based on the driving state change changes at a predetermined ratio or more. The server may be configured to monitor the driving state change of each corresponding node interval based on the shoulder parking report messages collected from the different vehicles within a predetermined driving time radius at the current position of the vehicle.

[0017] According to another aspect of the present disclosure, a vehicle may include: a camera; a vehicle identification device configured to identify a vehicle parked on a road shoulder by analyzing an image captured by the camera when driving the vehicle; a road shoulder occupancy calculation device configured to calculate the occupancy rate of the last or outermost lane occupied by the identified vehicle parked on the road shoulder; a driving impossibility determination device configured to determine a vehicle to be reported as parked on the road shoulder based on the calculated occupancy rate; a report message generation unit configured to generate a road shoulder parking report message corresponding to the vehicle determined to be reported as parked on the road shoulder; and a wireless communication device configured to send the road shoulder parking report message to a server via a wireless communication network.

[0018] In an exemplary embodiment, the camera may include a front camera and a rear camera, and the vehicle identification device may include: a device configured to detect a vehicle parked on the left or right shoulder of the road by analyzing an image captured by the front camera and calculating a first coordinate point representing the position of the detected vehicle; a device configured to calculate a second coordinate point representing the position of the detected vehicle by analyzing an image captured by the rear camera; and a device configured to determine the vehicle parked on the shoulder by comparing the first coordinate point and the second coordinate point.

[0019] When the first coordinate point and the second coordinate point match each other, the vehicle identification device may be configured to determine that the detected vehicle is a vehicle parked on the road shoulder; and when the first coordinate point and the second coordinate point do not match each other, the vehicle identification device may be configured to determine that the detected vehicle is traveling on the road shoulder. When the calculated occupancy rate corresponding to the vehicle determined to be parked on the road shoulder is greater than or equal to a predetermined reference value, the driving impossibility determination device may be configured to determine that the corresponding vehicle is a vehicle to be reported as parked on the road shoulder, and when the occupancy rate is less than the reference value, the driving impossibility determination device may be configured to exclude the corresponding vehicle from the vehicles to be reported as parked on the road shoulder.

[0020] Specifically, the shoulder parking report message includes at least one of the following items corresponding to the determined vehicle to be reported as parked on the shoulder: information related to the time when the parking was recognized, road information, lane information, and position information. In an exemplary embodiment, based on the shoulder parking report messages collected from different vehicles, the server may be configured to monitor the driving state change of each node interval included in the initial route found to correspond to the vehicle, and based on the monitoring result, the server may be configured to determine whether to re-search the route of the vehicle. The server may be configured to determine that a re-search of the route for the vehicle is required when the driving impossibility ratio of the node interval included in the initial route exceeds a predetermined threshold, or the estimated time to reach the destination recalculated based on the driving state change changes at a predetermined ratio or more.

[0021] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present disclosure belongs from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other objects, features and advantages of the present disclosure will become more apparent through the following detailed description in conjunction with the accompanying drawings:

[0023] Figure 1 is a view illustrating a method of detecting a vehicle parked / stopped on a road shoulder by using a front / rear vehicle camera according to an exemplary embodiment of the present disclosure;

[0024] Figure 2 is a diagram showing a route search system according to an exemplary embodiment of the present disclosure;

[0025] FIG. 3A to FIG. 3C is a diagram illustrating a route search method using road shoulder parking state information according to an exemplary embodiment of the present disclosure;

[0026] Figure 4 is a flow chart illustrating a method of determining a road shoulder stop / parking state in a CCS vehicle according to an exemplary embodiment of the present disclosure;

[0027] Figure 5 is a flowchart illustrating a method for searching a route using shoulder parking status information in a CCS server according to an exemplary embodiment of the present disclosure; and

[0028] Figure 6 is a diagram illustrating a driving state information update process for each node section in a CCS server according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] It should be understood that the terms "vehicle" or "vehicular" or other similar terms used herein generally include motor vehicles, such as passenger cars including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, water vehicles including various boats, aircraft, etc., and include hybrid vehicles, electric vehicles, combustion, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from resources other than petroleum).

[0030] Although the exemplary embodiments are described as using multiple units to perform the exemplary processes, it should be understood that the exemplary processes may also be performed by one or more modules. In addition, it should be understood that the term controller / control unit refers to a hardware device including a memory and a processor, and is specifically programmed to perform the processes described herein. The memory is configured to store the modules, and the processor is specifically configured to execute the modules to perform one or more processes, which will be further described below.

[0031] In addition, the control logic of the present disclosure may be embodied as a non-transitory computer-readable medium on a computer-readable medium containing executable program instructions executed by a processor, a controller / control unit, etc. Examples of computer-readable media include, but are not limited to, ROM, RAM, compact disk (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable recording medium may also be distributed in a computer system coupled to a network, so that the computer-readable medium may be stored and executed in a distributed manner, for example, by a telematics server or a controller area network (CAN).

[0032] The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "one", "an" and "the" are also intended to include plural forms, unless the context clearly indicates otherwise. It will be further understood that when used in this specification, the terms "include" and / or "comprise" specify the presence of the features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups. As used herein, the term "and / or" includes any and all combinations of one or more associated listed items.

[0033] Unless otherwise specified or obvious from the context, as used herein, the term "about" should be understood as within the normal tolerance range in the art, such as within 2 standard deviations of the mean. "About" can be understood as within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, 0.05% or 0.01% of the specified value. Unless the context clearly indicates otherwise, all numerical values ​​provided herein are modified by the term "about".

[0034] Hereinafter, some exemplary embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. When adding reference numerals to the components of each drawing, it should be noted that even if the same or equivalent components are shown on other drawings, they are represented by the same reference numerals. In addition, when describing the exemplary embodiments of the present disclosure, detailed descriptions of well-known features or functions will be excluded so as not to unnecessarily make the subject matter of the present disclosure unclear.

[0035] When describing components according to embodiments of the present disclosure, terms such as first, second, "A", "B", (a), (b), etc. may be used. These terms are intended only to distinguish one component from another, and these terms do not limit the nature, sequence, or order of the components. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by a person of ordinary skill in the art to which the present disclosure belongs. Terms defined in general dictionaries should be interpreted as having the same meanings as the contextual meanings of the relevant art, and should not be interpreted as having ideal or overly formal meanings unless explicitly defined as having such meanings in this application.

[0036] In the following, reference will be made to Figures 1 to 6 Exemplary embodiments of the present disclosure are described in detail. Figure 1 is a view illustrating a method of detecting a vehicle parked / stopped on a road shoulder by using a front / rear vehicle camera according to an exemplary embodiment of the present disclosure. Note that the controller may be configured to operate various components described herein below.

[0037] Reference Figure 1 , vehicle A100 (e.g., the first vehicle) may be configured to capture images of vehicles located on the shoulder of the left / right side of the driving lane using the front camera 101 or other imaging devices. For example, by analyzing the image captured by the front camera 101, vehicle A100 may be configured to detect vehicle B 110 (e.g., the second vehicle), vehicle C 120 (e.g., the third vehicle), vehicle D 130 (e.g., the fourth vehicle), and vehicle F 140 (e.g., the fifth vehicle) located on the left / right shoulder, and may be configured to calculate a first coordinate point of each detected vehicle.

[0038] By analyzing the images captured by the rear camera 102 during driving, the vehicle A100 may be configured to calculate the second coordinate point of each vehicle detected using the front camera 101. Based on whether the first coordinate point and the second coordinate point of each detected vehicle match each other, the vehicle A100 may be configured to determine whether the corresponding vehicle is in a parking state. The vehicle A100 may be configured to calculate the occupancy rate of the leftmost and rightmost lanes (e.g., the outermost lanes on the road) occupied by the vehicles identified as to be parked. The vehicle A100 may be configured to determine a vehicle having an occupancy rate greater than or equal to a predetermined reference value (e.g., approximately 30%) as a vehicle to be reported as parked on the shoulder of the road.

[0039] Reference Figure 1 , vehicle C 120 and vehicle D 130 may be included in the vehicles to be reported as parked on the shoulder, and vehicle B 110 and vehicle F 140 may be excluded from the vehicles to be reported as parked on the shoulder. Vehicle A 100 may be configured to send information about the vehicles to be reported as parked on the shoulder, i.e., a shoulder status report message to be described below, to the CCS server via the wireless communication network. The CCS server may be configured to monitor the road status in real time based on the shoulder status report message, dynamically search for a route based on the monitoring result, and provide the detected route to the corresponding vehicle.

[0040] Figure 2 is a diagram showing a route search system according to an exemplary embodiment of the present disclosure. Figure 2 , the route search system 200 may include a CCS vehicle 210 , a CCS server 220 , a wireless communication network 230 , and a positioning satellite 240 .

[0041] The CCS vehicle 210 may include a front camera 211, a rear camera 212, a vehicle identification device 213, a road shoulder occupancy calculation device 214, a driving impossibility determination device 215, a report message generation device 216, a map database 217, and a wireless communication device 218. Each of these components may be operated by a specially programmed controller in the CCS vehicle. The front camera 211 may be configured to capture an image of a left front / right front lane relative to a driving lane of the CCS vehicle 210. The rear camera 212 may be configured to capture an image of a left rear / right rear lane relative to a driving lane of the CCS vehicle 210.

[0042] The vehicle identification device 213 may be configured to identify a vehicle parked on the shoulder of the road by analyzing images captured by the front camera 211 and the rear camera 212. In an exemplary embodiment, the vehicle identification device 213 may be configured to calculate a first coordinate point and a second coordinate point of each vehicle located on the shoulder of the road by analyzing images captured by the front camera 211 and the rear camera 212, and determine a vehicle whose calculated first coordinate point and second coordinate point match each other as a parked vehicle.

[0043] The shoulder occupancy calculation device 214 may be configured to calculate the occupancy of the leftmost and rightmost lanes occupied by the vehicle determined to be parked. The driving impossibility determination device 215 may be configured to identify a vehicle having an occupancy greater than or equal to a predetermined reference value, and determine the identified vehicle as a vehicle to be reported as parked on the shoulder. The report message generation device 216 may be configured to generate a shoulder status report message, which includes information about which road the vehicle to be reported as parked on the shoulder is located, information about the location of the vehicle (e.g., coordinate point), information about the time when the vehicle was detected to be parked, etc. Specifically, the information about the road and the lane can be obtained with reference to the detailed map information stored in the map database 217, which is used for the coordinate point where the vehicle to be reported as parked on the shoulder is located.

[0044] The wireless communication device 218 may be configured to send the shoulder status report message to the CCS server 220 via the wireless communication network 230. In addition, the wireless communication device 218 may be configured to obtain information about the current position and current time of the CCS vehicle 210 by receiving a positioning signal from the positioning satellite 240, and send the obtained position and time information to the report message generating device 216.

[0045] The CCS server 220 may include a warning alarm generating device 221, a route searching device 222, a route re-search determining device 223, a driving impossibility node section determining device 224, a node state updating device 225, a shoulder state information database 226, and a communication device 227. The communication device 227 may be configured to receive a shoulder state report message. The shoulder state information database 226 may be configured to store the shoulder state information of each node section.

[0046] In addition, the node state updating means 225 may be configured to update the shoulder state information of each node interval stored in the shoulder state information database 226 based on the shoulder state report message. The driving impossibility node interval determining means 224 may be configured to determine whether the corresponding node interval is available based on the current shoulder state information of each node interval. When the driving impossibility node interval determining means 224 changes the driving state of a specific node interval on the driving route, the route re-search determining means 223 may be configured to determine whether to re-search the route based on the corresponding change.

[0047] In an exemplary embodiment, the route re-search determination means 223 may be configured to determine whether the driving impossibility ratio of the node sections included in the initial route exceeds a threshold value or whether the estimated time to the destination recalculated based on the driving state change changes at a predetermined rate or more. In response to determining that the driving impossibility ratio exceeds the threshold value or the estimated time to the destination changes at a predetermined rate or more, the route re-search determination means 223 may be configured to determine that a re-search of a bypass route or an optimal route from the current position to the destination is required.

[0048] The route search device 222 may be configured to search for an optimal route to a destination set for each vehicle. When a route needs to be re-searched based on a driving state change, the route search device 222 may be configured to search for a bypass route or a new optimal route. When the driving state is changed, the warning alarm generating device 221 may be configured to generate a warning alarm message including the corresponding driving state change, and may be configured to send the warning alarm message to the corresponding CCS vehicle.

[0049] FIG. 3A to FIG. 3C 2 is a diagram illustrating a route search method using road shoulder parking state information according to an exemplary embodiment of the present disclosure. Figure 3A , the driver of the CCS vehicle 300 may be configured to set a destination using a navigation device included in the vehicle, and may be configured to request the CCS server to search for a route. The CCS server may be configured to search for an optimal route from the node A 310 as a starting point to the node E 350 set as a destination, and provide the optimal route to the CCS vehicle 300. For example, it may be assumed that the route initially detected by the CCS server is a route from the node A 310 via the node B 320, the node C 330, and the node D 340 to the node E 350. The CCS server may be configured to search for an optimal route based on the collected shoulder parking information as well as traffic, road event information, traffic light information, road type, and speed limit.

[0050] refer to Figure 3B, when the CCS vehicle 300 moves from node A 310 to node B 320, the node interval BC 321 and the node interval CD 331 may be changed to the driving impossibility node interval. In an exemplary embodiment, when the ratio of the driving impossibility node interval to the total driving node interval exceeds a reference value, for example, about 30%, the CCS server may be configured to start a route re-search process. Figure 3B In an exemplary embodiment of the present invention, the ratio of the driving impossibility node interval to the total driving node interval is two quarters, ie, approximately 50%.

[0051] The CCS server may be configured to search for a bypass route based on the shoulder parking / stopping information collected so far. For example, the CCS server may be configured to determine the node section BF 332 and the node section FD 361 as a route bypassing the node section BC 321 and the node section CD 331 .

[0052] refer to Figure 3C , in CCS vehicle 300 according to Figure 3B When the route re-search result moves from node B 320 to node F 360, node interval FD 361 may change from a driving possible node to a driving impossible node. Specifically, when the ratio of the driving impossible node interval to the total driving node interval remaining to the destination exceeds a reference value, for example, about 30%, the CCS server may be configured to start the route re-search process. Figure 3C In an exemplary embodiment, the ratio of the driving impossibility node interval to the total driving node interval is one third, that is, about 33%. The CCS server may be configured to re-search the bypass route based on the shoulder parking / parking information collected so far. For example, the CCS server may be configured to determine the node interval FE 362 as a route that bypasses the node interval FD 361.

[0053] Figure 4 is a flowchart illustrating a method for determining a road shoulder parking / parking state in a CCS vehicle according to an exemplary embodiment of the present disclosure. Figure 4 , the CCS vehicle may be configured to analyze an image of a shoulder of a road captured by a front camera during driving of the CCS vehicle ( S401 ).

[0054] When a vehicle located on the shoulder of the road is detected using image analysis, the CCS vehicle may be configured to calculate a first coordinate point representing the current position of the vehicle detected using the front camera (S402 and S403). Specifically, the first coordinate point may be calculated as latitude and longitude. However, this is only an exemplary embodiment. In another exemplary embodiment, the first coordinate point may be calculated as global positioning system (GPS) time.

[0055] When the CCS vehicle passes the vehicle detected using the front camera, the CCS vehicle may be configured to analyze the image of the shoulder of the road captured by the rear camera while the CCS vehicle is being driven (S404). By analyzing the image captured by the rear camera, the CCS vehicle may be configured to determine whether the vehicle detected using the front camera is still on the shoulder (S405).

[0056] The CCS vehicle may be configured to calculate a second coordinate point representing the position of the vehicle detected using the rear camera, and determine whether the first coordinate point matches the second coordinate point (S406 and S407). When the first coordinate point matches the second coordinate point, the CCS vehicle may be configured to determine that the detected vehicle is parked on the shoulder of the road. In response to determining that the first coordinate point and the second coordinate point match each other, the CCS vehicle may be configured to calculate the occupancy rate of the last lane occupied by the vehicle determined to be parked on the shoulder of the road (S408).

[0057] The CCS vehicle may be configured to determine whether the calculated occupancy rate exceeds a predetermined reference value (S409). In response to determining that the calculated occupancy rate exceeds the reference value, the CCS vehicle may be configured to determine that the CCS vehicle cannot travel on the shoulder of the corresponding portion of the road. For example, the reference value may be, but is not limited to, approximately 30%, and may be set differently based on the design of a person skilled in the art. In response to determining in S409 that the calculated occupancy rate exceeds the reference value, the CCS vehicle may be configured to generate and send a shoulder information report message to the CCS server (S410), wherein the shoulder information report message includes road information, lane information, a coordinate point of a vehicle determined to be parked on the shoulder, a time when the vehicle determined to be parked on the shoulder is detected, etc. In response to determining in S409 that the calculated occupancy rate does not exceed the reference value, the CCS vehicle may be configured to determine that the CCS vehicle can travel on the shoulder of the corresponding portion of the road (S411).

[0058] Figure 5 is a flow chart showing a method for searching a route using shoulder parking status information in a CCS server according to an exemplary embodiment of the present disclosure. The method described herein may be executed by a specially programmed controller. Figure 5 , considering the shoulder parking information collected from a plurality of vehicles, the CCS server may be configured to search for an initial route to a destination set by a user, and provide the initial route to a corresponding CCS vehicle (S510).

[0059] During the operation of the CCS vehicle (e.g., when the vehicle is traveling), the CCS server may be configured to monitor the driving state changes of the node intervals included in the initial route in real time in response to the shoulder information report messages collected from multiple vehicles on the initial route (S520). The CCS server may be configured to determine whether the driving impossibility ratio of the node intervals included in the initial route exceeds a threshold or whether the estimated time to reach the destination recalculated based on the driving state change changes at a predetermined ratio or greater (S530). In response to determining that the driving impossibility ratio exceeds the threshold or the estimated arrival time changes at a predetermined ratio or greater, the CCS server may be configured to re-search for a bypass route or an optimal route from the current position to the destination again, and provide the bypass route or the optimal route to the corresponding CCS vehicle (S540).

[0060] Figure 6 is a diagram showing a driving state information update process for each node section in a CCS server according to an exemplary embodiment of the present disclosure. Figure 6 , each of CCS vehicle 1 to CCS vehicle N 610 can be configured to identify a vehicle parked / stopped on a road shoulder by analyzing images captured by front / rear cameras, and can be configured to send a road shoulder information report message including information about the identified parked / stopped vehicle to the CCS server 620 via a wireless communication network.

[0061] Specifically, the colored rectangle 623 represents the shoulder information report message sent from each vehicle, and the shaded rectangle 624 represents the situation where the shoulder information report message sent from the vehicle overlaps in a specific interval. The CCS server 620 can be configured to monitor the driving state of each node interval in real time based on the shoulder information report message, and send the driving state information of the node interval included in the driving route set for each vehicle to the corresponding vehicle. When the driving state of the corresponding node interval changes from a driving possible state to a driving impossible state or from a driving impossible state to a driving possible state, the CCS server 620 can be configured to re-search the driving route for the corresponding vehicle.

[0062] In an exemplary embodiment, when a predetermined number or more of vehicles (e.g., about 10 or more vehicles) are parked on the shoulder of the road at a predetermined interval (e.g., about 10 meters or less) in the first node interval as indicated by reference numeral 621, the CCS server 620 may be configured to determine that smooth driving is impossible due to the narrow distance between the vehicles parked on the shoulder of the road, and therefore may be configured to determine the driving state of the corresponding node interval as a driving impossibility state or a driving impossibility lane. Specifically, it should be noted that those skilled in the art may set the predetermined interval and the predetermined number differently in consideration of the length of the corresponding node interval, the number of traffic lights installed in the corresponding node interval, speed limits, traffic, etc.

[0063] In addition, when the ratio of the sections where driving on the shoulder is difficult due to the vehicle parked on the shoulder in the first node section exceeds a predetermined ratio (e.g., about 80%) indicated by reference numeral 622, the CCS server 620 may be configured to determine the corresponding node section as a driving impossibility state or a driving impossibility lane. The CCS server 620 according to an embodiment may be configured to provide information about the node sections in which the driving state has been changed among the node sections included in the preset driving route to the corresponding vehicle in real time.

[0064] When a predetermined number or more of the node intervals included in the driving route of the corresponding vehicle are in a driving impossibility state, the CCS server 620 according to the exemplary embodiment may be configured to re-search the driving route of the corresponding vehicle. When the driving state of the node interval included in the driving route of the corresponding vehicle is changed, the CCS server 620 according to the exemplary embodiment may be configured to recalculate the time to the destination based on the changed driving state information, and when the rate of change in the time to the destination is greater than or equal to a predetermined reference value, the CCS server 620 may be configured to re-search the driving route of the corresponding vehicle and provide the driving route.

[0065] The route search logic based on the information about the roadside parking / parking status may be controlled to operate by reflecting only the information collected within a radius of a predetermined driving time (e.g., about 30 minutes) relative to the current position of the corresponding vehicle. This is because the roadside parking / parking status information collected at a distance exceeding 30 minutes is likely to change the parking / parking status when the corresponding vehicle moves to the point where the corresponding information is collected.

[0066] The CCS server 620 according to an exemplary embodiment may be configured to send a predetermined warning alarm message to a vehicle traveling on the shoulder before the vehicle reaches the shoulder driving impossibility zone, thereby notifying the vehicle that the last or outermost lane is in a driving impossibility state due to stopping / stopping on the shoulder. This may allow the driver to move the vehicle into an available driving lane.

[0067] The operations of the methods or algorithms described in conjunction with the exemplary embodiments disclosed herein may be directly embodied in a hardware or software module executed by a processor, or in a combination thereof. The software module may reside on a storage medium (i.e., memory and / or storage device) such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, or CD-ROM.

[0068] An exemplary storage medium may be coupled to a processor, and the processor may read information from the storage medium and may record information in the storage medium. Alternatively, the storage medium may be integrated with the processor. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In another case, the processor and the storage medium may reside in a user terminal as separate components.

[0069] As described above, according to the exemplary embodiment, the present disclosure has the advantage of providing a route search method and system using road shoulder parking state information. In addition, the present disclosure has the advantage of providing a route search method and system using road shoulder parking state information, wherein the method and system determine a lane state based on information about a vehicle parked on a road shoulder, which is collected by a vehicle camera during driving, and searches for an optimal route based on the determination result.

[0070] Furthermore, the present disclosure has the advantage of searching for a more accurate optimal route based on information about a vehicle parked on a road shoulder, which is collected by a camera of a traveling connected car service (CCS) vehicle. In addition, the present disclosure can provide various effects that are directly or indirectly recognized.

[0071] Although the present disclosure has been described above with reference to exemplary embodiments and the accompanying drawings, the present disclosure is not limited thereto, and those skilled in the art to which the present disclosure belongs may make various modifications and changes to the present disclosure without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

[0072] Therefore, the exemplary embodiments of the present disclosure are provided to explain the spirit and scope of the present disclosure, but not to limit them, so that the spirit and scope of the present disclosure are not limited by the exemplary embodiments. The scope of the present disclosure should be interpreted based on the attached claims, and all technical ideas within the scope equivalent to the claims should be included in the scope of the present disclosure.

Claims

1. A method for searching a route using shoulder parking status information in a vehicle working in cooperation with a server via a wireless communication network, the method The following steps are involved: identifying, by the controller, at least one vehicle parked on a road shoulder by analyzing an image captured by the camera during driving of the vehicle; determining, by the controller, at least one vehicle to be reported as parked on the road shoulder among the identified vehicles parked on the road shoulder; as well as generating, by the controller, a road shoulder parking report message corresponding to the at least one vehicle determined to be reported as parked on the road shoulder, and sending the road shoulder parking report message to the server, Among them, identifying vehicles parked on the shoulder of the road includes: detecting, by the controller, at least one vehicle parked on a left shoulder or a right shoulder of a road by analyzing an image captured by the front camera, and calculating a first coordinate point representing a position of the detected vehicle; calculating, by the controller, a second coordinate point representing a position of the detected vehicle by analyzing an image captured by the rear camera; and The controller determines at least one vehicle parked on the shoulder of the road by comparing the first coordinate point with the second coordinate point, Wherein, determining at least one vehicle parked on the road shoulder by comparing the first coordinate point and the second coordinate point comprises: When the first coordinate point and the second coordinate point match each other, the controller determines the detected vehicle as a vehicle parked on a road shoulder; and When the first coordinate point and the second coordinate point do not match each other, determining that the detected vehicle is traveling on a road shoulder, Among them, at least one vehicle determined to be reported as parked on the shoulder of the road includes: calculating, by the controller, an occupancy rate of the outermost lane occupied by at least one vehicle determined to be parked on the shoulder of the road; and At least one vehicle to be reported as being parked on the road shoulder is determined by the controller by comparing the calculated occupancy rate with a predetermined reference value.

2. The method according to claim 1, in, Determining at least one vehicle to be reported as parked on the shoulder of the road by comparing the calculated occupancy rate to the predetermined reference value comprises: determining, by the controller, a corresponding vehicle parked on a road shoulder as at least one vehicle to be reported as parked on a road shoulder when the calculated occupancy rate is greater than or equal to the reference value; and When the calculated occupancy rate is less than the reference value, the corresponding vehicle parked on the road shoulder is excluded by the controller from the at least one vehicle to be reported as parked on the road shoulder.

3. The method according to claim 2, in, The road shoulder stop report message includes at least one of the following items corresponding to the vehicle determined to be reported as stopped on the road shoulder: information on a time when the stop was recognized, road information, lane information, and position information.

4. The method according to claim 1, in, The server is configured to monitor a driving state change of each node section included in a discovered initial route corresponding to at least one vehicle based on the shoulder parking report message collected from different vehicles, and the server is configured to determine whether to re-search the route of at least one vehicle based on the monitoring result.

5. The method according to claim 4, in, The server is configured to determine that a re-search of a route for at least one vehicle is required in response to determining that a driving impossibility ratio of the node interval included in the initial route exceeds a predetermined threshold, or in response to an estimated time to a destination recalculated based on the driving state change changing at a predetermined ratio or more.

6. The method according to claim 5, in, The server is configured to monitor a driving state change of each corresponding node section using the shoulder stop report messages collected from different vehicles within a predetermined driving time radius of a current position of at least one vehicle.

7. A vehicle, include: a camera configured to capture images of a vehicle's surroundings; a vehicle recognition device configured to recognize at least one vehicle parked on a road shoulder by analyzing an image captured by the camera while driving the vehicle; A road shoulder occupancy rate calculation device is configured to calculate the occupancy rate of the outermost lane occupied by the identified vehicles parked on the road shoulder; a driving impossibility determination device configured to determine at least one vehicle to be reported as parked on a road shoulder based on the calculated occupancy rate; a report message generating unit configured to generate a road shoulder parking report message corresponding to the at least one vehicle determined to be reported as parked on the road shoulder; as well as a wireless communication device configured to send the roadside parking report message to a server via a wireless communication network, Wherein, the camera comprises a front camera and a rear camera, and wherein the vehicle recognition device comprises: a first device configured to detect at least one vehicle parked on a left shoulder or a right shoulder of a road by analyzing an image captured by the front camera, and calculate a first coordinate point representing a position of the detected at least one vehicle; a second device configured to calculate a second coordinate point representing a position of at least one detected vehicle by analyzing an image captured by the rear camera; and a third device configured to determine a vehicle parked on a road shoulder by comparing the first coordinate point with the second coordinate point, wherein, when the first coordinate point and the second coordinate point match each other, the vehicle identification device is configured to determine that the at least one detected vehicle is a vehicle parked on a road shoulder; and when the first coordinate point and the second coordinate point do not match each other, the vehicle identification device is configured to determine that the at least one detected vehicle is traveling on a road shoulder, The driving impossibility determining means determines at least one vehicle to be reported as parked on the road shoulder by comparing the calculated occupancy rate with a predetermined reference value.

8. The vehicle according to claim 7, in, When it is calculated that the occupancy rate corresponding to at least one vehicle determined to be parked on the shoulder of the road is greater than or equal to the predetermined reference value, the driving impossibility determination device is configured to determine the corresponding vehicle to be reported as parked on the shoulder of the road, and when the occupancy rate is less than the reference value, the driving impossibility determination device is configured to exclude the corresponding vehicle from being reported as parked on the shoulder of the road.

9. The vehicle according to claim 8, in, The road shoulder stop report message includes at least one of the following items corresponding to the vehicle determined to be reported as stopped on the road shoulder: information on a time when the stop was recognized, road information, lane information, and position information.

10. The vehicle according to claim 7, in, Based on the shoulder parking report messages collected from different vehicles, the server is configured to monitor the driving state changes of each node interval included in the discovered initial route corresponding to at least one vehicle, and based on the monitoring results, the server is configured to determine whether to re-search the route of at least one vehicle.

11. The vehicle according to claim 10, in, The server is configured to determine that a re-search of a route for at least one vehicle is required in response to determining that a driving impossibility ratio of the node interval included in the initial route exceeds a predetermined threshold, or in response to an estimated time to a destination recalculated based on the driving state change changing at a predetermined ratio or more.

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