Device, method, computer program, and computer-readable recording medium for route guidance

Abstract

The present invention relates to an apparatus and a method for route guidance, comprising the steps of obtaining a destination from a user input; determining a present position of a vehicle; calculating a travel route from the present position to the destination; in the course of route guidance according to the calculated travel route, if there is an intersection within a predetermined distance on the travel route, confirming a ranking of search links located on the calculated travel route among search links leading to and from end nodes existing on the intersection; comparing turning information of the search links corresponding to the confirmed ranking of the search links with travel direction information of a lane in which the vehicle is located; and guiding a lane change of the vehicle according to a comparison result of the turning information and the travel direction information.

Description

[0001] This application is a divisional application of the invention patent application filed on November 24, 2017, with application number "201780073026.0" and titled "Apparatus, Method, Computer Program and Computer-readable Recording Medium for Guiding Routes". Technical Field

[0002] This invention relates to apparatus, methods, computer programs, and computer-readable recording media for providing route guidance, specifically to apparatus, methods, computer programs, and computer-readable recording media for providing effective route guidance according to lane units. Background Technology

[0003] Drivers use route guidance services through navigation devices or smart devices installed in their vehicles. The navigation device displays the user's location on a map as the user moves, and then provides voice guidance to the user as they travel.

[0004] On the one hand, existing navigation systems identify roads as a link for route guidance, rather than guiding routes according to individual lanes. Therefore, they do not consider lane-specific traffic conditions or directional information. To provide lane-specific route guidance, it is necessary to pre-construct information related to lane data, such as lane numbers and lane directions, and to pinpoint the precise location of the vehicle and align it with its lane. Furthermore, specific data is required, such as whether the vehicle needs to turn along its route, and if so, whether the vehicle is in a permitted turning lane. Summary of the Invention

[0005] This invention relates to apparatus, method, computer program, and computer-readable recording medium for guiding routes according to lane units.

[0006] In addition, the present invention relates to an apparatus, method, computer program, and computer-readable recording medium for effectively performing route guidance by setting the route determination method and the route guidance method to be different.

[0007] In addition, the present invention relates to an apparatus, method, computer program, and computer-readable recording medium for providing route guidance, which enables easy identification of turning points when providing route guidance.

[0008] In addition, the present invention relates to an apparatus, method, computer program, and computer-readable recording medium for effectively providing route guidance by considering the directional information of each lane before entering an intersection.

[0009] The method for providing route guidance according to the present invention includes: a step of obtaining a destination from user input; a step of determining the current position of a vehicle; a step of calculating a driving route from the current position to the destination; a step of, while providing route guidance according to the calculated driving route, if an intersection exists within a predetermined distance on the driving route, then confirming the ranking of search links located on the calculated driving route from the end node present at the intersection; a step of comparing the steering information of the search link corresponding to the ranking of the confirmed search link with the travel direction information of the lane in which the vehicle is located; and a step of providing lane change guidance to the vehicle based on the comparison result of the steering information and the travel direction information.

[0010] Then, the step of confirming the ranking of the search links includes: confirming the lane identifier (Lane ID) of the lane where the vehicle is located; confirming the search identifier (SearchID) containing the confirmed lane link identifier; confirming the number of search links entering and exiting from the end node of the search link corresponding to the confirmed search link identifier; and for search links entering and exiting from the end node, searching sequentially in a clockwise or counterclockwise direction with the end node as the reference.

[0011] Additionally, the comparison step includes: confirming the steering information in the searched search links that corresponds to the search links located on the driving route and is consistent with the order of the search links; and comparing whether the confirmed steering information is consistent with the travel direction information corresponding to the lane where the vehicle is located.

[0012] Then, the step of providing lane change guidance to the vehicle includes: if the comparison result shows that the steering information of the search link corresponding to the ranking of the confirmed search link is inconsistent with the travel direction information of the lane where the vehicle is located, then determining a driving lane with travel direction information consistent with the steering information of the search link, wherein the steering information of the search link corresponds to the ranking of the confirmed search link; and providing a step of guiding lane change to the determined driving lane.

[0013] In addition, the destination and the current location of the vehicle are received via the user terminal.

[0014] Then, based on the comparison result of the steering information and the direction of travel information, the step of guiding the vehicle to change lanes includes: transmitting a guidance message to the vehicle's control unit to cause the vehicle to change lanes; and the vehicle's control unit performing actions related to the lane change based on the guidance message.

[0015] Additionally, the comparison step includes: confirming, in the searched search links, the turning information that corresponds to the order of the search links located on the driving route; and confirming whether the confirmed turning information includes travel direction information corresponding to the lane in which the vehicle is located.

[0016] Then, the step of providing lane change guidance to the vehicle includes: if the confirmation result does not include the travel direction information of the lane where the vehicle is located in the turn information of the search link corresponding to the ranking of the confirmed search link, then determining a driving lane with travel direction information consistent with the turn information of the search link, wherein the turn information of the search link corresponds to the ranking of the confirmed search link; and providing lane change guidance to the determined driving lane.

[0017] The device for route guidance according to the present invention includes: a route calculation unit; a communication unit for communicating with a user terminal installed in a vehicle; and a control unit for obtaining destination information and location information of the vehicle through the communication unit, controlling the route calculation unit to calculate a driving route from the current location to the destination, and transmitting the calculated driving route to the user terminal through the communication unit.

[0018] The route calculation unit, while providing route guidance according to the calculated driving route, if an intersection exists within a predetermined distance on the driving route, then among the search links entering and exiting from the end node at the intersection, it confirms the ranking of the search links located on the calculated driving route, compares the turning information of the search link corresponding to the confirmed ranking with the travel direction information of the lane where the vehicle is located, and provides lane change guidance to the vehicle based on the comparison result of the turning information and the travel direction information.

[0019] Then, the route calculation unit confirms the lane identifier of the lane where the vehicle is located, confirms the search identifier that includes the confirmed lane link identifier, confirms the number of search links that enter or exit from the end node of the search link corresponding to the confirmed search link identifier, and searches sequentially in a clockwise or counterclockwise direction based on the end node for search links that enter or exit from the end node.

[0020] In addition, the route calculation unit confirms the turning information in the search links that are consistent with the search links located on the driving route and corresponds to the order of the search links, and compares whether the confirmed turning information is consistent with the travel direction information corresponding to the lane where the vehicle is located.

[0021] Then, if the comparison result shows that the steering information of the search link corresponding to the ranking of the confirmed search link is inconsistent with the travel direction information of the lane where the vehicle is located, the route calculation unit determines the driving lane with travel direction information consistent with the steering information of the search link and provides lane change guidance to the determined driving lane, wherein the steering information of the search link corresponds to the ranking of the confirmed search link.

[0022] In addition, the route calculation unit transmits a guidance message to the vehicle control unit to enable the vehicle to change lanes, and the vehicle control unit performs actions related to the lane change based on the guidance message.

[0023] Then, it further includes: a storage unit that stores map information to guide the route of the vehicle, stores information on search links and lane links existing on the map information, and stores steering information corresponding to the search links and travel direction information corresponding to the lane links.

[0024] The device for route guidance according to the present invention includes: a communication unit for communicating with a server; a positioning unit for measuring the position of a vehicle; a route guidance execution unit for executing route guidance; and a control unit for controlling the transmission of the vehicle's position and destination information input by a user to the server via the communication unit, and controlling the route guidance execution unit to perform route guidance according to route guidance information received from the server up to the destination. The route guidance information includes the following: if an intersection exists within a predetermined distance on the driving route, the ranking of the search links entering or exiting from the end node existing at the intersection is confirmed on the calculated driving route; the turning information of the search link corresponding to the confirmed ranking of the search link is compared with the travel direction information of the lane in which the vehicle is located; and lane change guidance is given to the vehicle based on the comparison result of the turning information and the travel direction information.

[0025] Then, it further includes: an interface unit that transmits the route guidance information to the vehicle control unit, and the vehicle control unit controls the vehicle to travel according to the route guidance information.

[0026] The route guidance method according to the present invention includes: a step of obtaining a destination from user input; a step of measuring the current position of a vehicle; a step of calculating a driving route from the measured current position to the destination; a step of, while driving along the calculated driving route, confirming a search link currently being driven by the vehicle and a future search link connected to the current search link and located on the driving route; a step of confirming the direction of travel from the current search link to the future search link; a step of comparing the direction of travel to the confirmed future search link with the direction of travel information of the lanes on the search link currently being driven by the vehicle; and a step of determining whether to change lanes for the vehicle based on the comparison result of the confirmed direction of travel and the direction of travel information, wherein the driving route includes at least two search links on the driving route from the measured current position to the destination.

[0027] Then, the step of confirming the future search link may include: identifying a current search link identifier for a road corresponding to the current location of the measured vehicle; and confirming, in the search links entering and exiting from the end node of the identified current search link identifier, the future search link that is continuously set up with the current search link according to the driving route.

[0028] In addition, the step of confirming the direction of travel includes: calculating the angle between the coordinates of the end node of the current search link and the coordinates of the end node of the future search link, which are pre-set on the map with reference to the direction of travel of the vehicle; the direction of travel can be confirmed based on whether the calculated angle is included in the pre-set angle range.

[0029] The angle can then be calculated using the tangent function.

[0030] In addition, the direction of travel can be as follows: if the calculated angle is between 45 degrees and 135 degrees relative to the direction of travel, it is a right turn direction; if the calculated angle is between 225 degrees and 315 degrees relative to the direction of travel, it is a left turn direction; if the calculated angle is between 315 degrees and 45 degrees, it is a straight direction; and if the calculated angle is between 135 degrees and 225 degrees, it is a U-turn direction.

[0031] Then, the step of providing lane change guidance may include: determining a lane corresponding to a lane identifier when the direction of travel and the direction of travel information are different, the lane identifier having direction of travel information consistent with the direction of travel; and guiding a change to the determined lane. On one hand, to achieve the aforementioned objective, a route guidance method according to an embodiment of the present invention includes: storing map data, wherein the map data includes search link data differentiated by road units and lane link data differentiated by at least one lane unit constituting the road; generating a route to the destination of the mobile vehicle based on the search link data; generating turning information of the mobile vehicle at locations on the generated route where a decision on whether to turn the mobile vehicle is required; determining the current search link to which the lane link corresponding to the current position of the mobile vehicle belongs; determining a future search link connected to the current search link and located on the travel route of the mobile vehicle; and determining turning information between the current search link and the future search link based on the generated turning information, and guiding whether to perform a lane change based on the determined turning information and the direction of travel information of the lane link currently occupied by the vehicle.

[0032] Then, the search link data can consist of a search link identifier, a start node identifier of the search link, and an end node identifier of the search link.

[0033] In addition, the lane link data may consist of a lane link identifier, a search link identifier to which the lane link belongs, and lane travel direction information.

[0034] Then, the location where it is necessary to determine whether the moving body is turning or not can be an intersection.

[0035] In addition, the step of determining the current search link to which the lane link corresponding to the current position of the moving body belongs includes: obtaining the position of the moving body using a positioning device; and confirming the lane link to which the moving body is currently located using the following [Mathematical Formula 1] for the obtained position of the moving body.

[0036]

Mathematical Formula 1

[0037] L(x,y)-α≤C(x,y)≤L(x,y)+α

[0038] C(x, y) is the position of the moving body, L(x, y) represents the position of the lane link corresponding to the currently measured position of the vehicle, and α can be the position correspondence tolerance.

[0039] Then, the steering information may include going straight, turning left, turning right, and making a U-turn.

[0040] In addition, the step of generating the turning information is that the turning information can be generated when the moving body approaches within a predetermined distance from the intersection.

[0041] Then, the step of generating the turning information is that, when the destination of the moving body is set, the turning information can be generated for the entire segment from the current position of the moving body to the destination.

[0042] On the one hand, in order to achieve the aforementioned objective, according to an embodiment of the present invention, a computer-readable recording medium may be further included, which records a program for performing route guidance.

[0043] In addition, to achieve the aforementioned objective, according to one embodiment of the present invention, it may further include: a program stored in a computer-readable recording medium for performing the route guidance method.

[0044] This invention separates the route search method from the method of guiding the searched route, and then performs route guidance, thereby reducing the amount of data processing and shortening the data processing time, thus enabling efficient route guidance.

[0045] In addition, the various sections and lanes of the road are distinguished, such as search link ID and lane link ID. The turning information related to each search link ID and the travel direction information related to each lane link ID are determined and stored in advance. Therefore, during the route guidance, information can be provided to the user in advance based on the user's location so that lane changes can be made safely. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of a route guidance system according to an embodiment of the present invention.

[0047] Figure 2 This is a schematic diagram of the route guidance device according to an embodiment of the present invention.

[0048] Figure 3 This is a schematic diagram of the server structure according to an embodiment of the present invention.

[0049] Figures 4 to 6 This is a schematic diagram illustrating a route guidance method according to an embodiment of the present invention.

[0050] Figures 7 to 9 This is a flowchart of a route guidance method according to an embodiment of the present invention.

[0051] Figure 10 This is a schematic diagram of the server structure according to an embodiment of the present invention.

[0052] Figures 11 to 12 This is a flowchart of a route guidance method using a route guidance device according to an embodiment of the present invention.

[0053] Figure 13 This is a schematic diagram of the route guidance device according to an embodiment of the present invention.

[0054] Figure 14 This is a schematic diagram of search links and lane links shown to illustrate the route guidance concept according to an embodiment of the present invention.

[0055] Figure 15 This is a schematic diagram of a turning search link constructed at a crossroads according to an embodiment of the present invention.

[0056] Figure 16 as well as Figure 17 This is a schematic diagram illustrating a route guidance method according to an embodiment of the present invention.

[0057] Figure 18 as well as Figure 19 This is a schematic diagram illustrating the process of confirming the direction of travel from the current search link to the future search link in a route guidance device according to another embodiment of the present invention.

[0058] Figure 20 This is a schematic diagram of the structure of a route guidance device according to another embodiment of the present invention.

[0059] Figure 21 This is a schematic diagram of the structure of a server according to another embodiment of the present invention. Detailed Implementation

[0060] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing the present invention, detailed descriptions of certain well-known functions or components will be omitted if it is determined that such detailed descriptions would obscure the essence of the invention.

[0061] Figure 1 This is a schematic diagram of a route guidance system 10 according to an embodiment of the present invention.

[0062] like Figure 1 As shown, the route guidance system 10 of the present invention includes a route guidance device 100 and a server 110.

[0063] The route guidance device 100 is a device that guides users to their destination. Examples include navigators, smartphones, smart tablets, smart glasses, and head-up displays (HUDs) that can display road information to users. The route guidance device 100 can be installed by the user in a vehicle or pre-installed by the vehicle manufacturer. In this invention, the route guidance device 100 uses high-precision map data to guide users. High-precision maps differ from existing maps; they are constructed by scanning roads and nearby fixed objects using devices such as LiDAR (Light Detection and Ranging) to obtain information on the shape of the road, the location and form of nearby facilities, and other relevant data. The high-precision map in this invention is constructed by including information on each lane and the direction of each lane. In this case, if high-precision map data is used, the route guidance device 100 displays road information in lane units. The route guidance device 100 is installed on the moving body and can transmit road information up to the user-selected destination, the moving body's location information, travel time information, and travel speed information to the server 110. The moving body can include vehicles, humans, bicycles, ships, trains, and other movable objects. For ease of explanation, the following description uses a vehicle as an example.

[0064] Furthermore, the concept of a lane is distinct from that of a line. A lane refers to a portion of the road on which vehicles travel. When a road consists of multiple lanes, these lanes can be distinguished by individual lines. A line, on the other hand, is a strip of lines used to separate the multiple lanes within a road, allowing drivers to travel safely and smoothly.

[0065] Server 110 collects and processes traffic information and transmits it to route guidance device 100. When high-precision map data or firmware needs updating, it sends this information to route guidance device 100, enabling updates. In particular, since high-precision maps provide morphological information of all fixed objects within the road, it is necessary to quickly adapt to changes in the road environment, such as accident zones and construction zones. Therefore, server 110 can periodically determine whether high-precision map data needs updating and then send update information to route guidance device 100.

[0066] Figure 2 This is a schematic diagram of the structure of a route guidance device 100 according to an embodiment of the present invention.

[0067] like Figure 2As shown, the route guidance device 100 of the present invention includes: an input unit 200, a display unit 210, a storage unit 230, a control unit 240, and a communication unit 250.

[0068] The input unit 200 performs the function of converting external physical inputs into specific electrical signals, and can receive user input such as touch, pressing actions, and voice, or sounds generated inside or outside the vehicle. The input unit 200 may include all or part of a user input unit (not shown) and a sound transmission unit (not shown).

[0069] The user input unit can receive user input such as touch and press actions. The user input unit can consist of at least one of various button types, a touch sensor for receiving touch input, and a proximity sensor for receiving proximity actions. The audio transmission unit can receive the user's voice and sounds generated inside and outside the vehicle.

[0070] The display unit 210 uses high-precision map data to display route information. It can be integrated with the route guidance device 100, or it can be set separately from the route guidance road 100, such as a head-up display.

[0071] The communication unit 250 is used for communication with other devices such as the server 110. Specifically, it may include all or part of a location data unit (not shown), a wireless network unit (not shown), a broadcast transceiver unit (not shown), a mobile communication unit (not shown), a short-range communication unit (not shown), and a wired communication unit (not shown). The location data unit acquires location data through a Global Navigation Satellite System (GNSS). GNSS refers to a navigation system that can calculate the position of a receiving terminal using radio wave signals received by artificial satellites. Specific examples of GNSS include, depending on the operating entity, Global Positioning System (GPS), Differential GPS (DGPS), Galileo, Global Orbiting Navigation Satellite System (GLONASS), COMPASS, Indian Regional Navigation Satellite System (IRNSS), Quasi-Zenith Satellite System (QZSS), etc. In this invention, it is preferable to determine the position of an object within a range of 10–25 cm. The location data unit can receive GNSS signals from the area service being used to acquire location data. In addition to GNSS, the location data unit (not shown) can also acquire location data through communication with base stations or access points (APs) in addition to GNSS.

[0072] The wireless network unit (WLAN) accesses wireless networks to acquire or transmit data. Wireless networks accessible through the WLAN unit can include Wireless Local Area Networks (WLAN), Wireless Broadband (Wibro), World Interoperability for Microwave Access (WiMAX), and High Speed ​​Downlink Packet Access (HSDPA). The broadcast transceiver unit (BTU) transmits and receives broadcast signals through various broadcast systems. Broadcast systems that can be used through the BTU include Digital Multimedia Broadcasting Terrestrial (DMBT), Digital Multimedia Broadcasting Satellite (DMBS), Media Forward Link Only (MediaFLO), Digital Video Broadcast Handheld (DVBH), and Integrated Services Digital Broadcast Terrestrial (ISDBT). Broadcast signals transmitted and received through the BTU can include traffic data, lifestyle data, etc.

[0073] The mobile communication unit can access the mobile communication network for communication according to various mobile communication specifications such as 3GPP (3rd Generation Partnership Project), 3GPP2 (3rd Generation Partnership Project 2), Long Term Evolution (LTE), and 5G. The short-range communication unit can perform short-range communication with surrounding devices according to various communication methods such as Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, and Wi-Fi. The wired communication unit is an interface device that can connect to other devices via wired connections, such as USB (USB Port), IEEE (Institute of Electrical and Electronics Engineers), and High Definition Multimedia Interface (HDMI) modules.

[0074] Storage unit 230 is used to store various types of data and applications. For example, it can store operating system (OS), route search application, map data, searched route data, video, etc. Storage unit 230 is not only composed of memory-type storage elements such as random access memory (RAM), flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable and programmable read-only memory (EEPROM), registers, hard disks, removable disks, memory cards, and Universal Subscriber Identity Modules (USIM), but can also be composed of removable storage elements such as USB storage devices.

[0075] The control unit 240 determines and displays the route to the destination based on the user's input, and guides lane changes when a turn is required so that the vehicle can be in a turnable lane, etc., thus providing comprehensive control of the route guidance device 100 of the present invention.

[0076] Figure 3 This is a schematic diagram of the structure of server 110 according to an embodiment of the present invention.

[0077] like Figure 3 As shown, the server 110 of the present invention includes an input unit 300, a communication unit 310, a storage unit 320, and a control unit 330.

[0078] The input unit 300 receives instructions for performing actions from user input and may consist of a keypad, a dome switch, a touchpad (constant voltage / constant current), an adjustment knob, a jog switch, a button, etc.

[0079] The communication unit 310 is used to communicate with other devices such as the route guidance device 100. Specifically, it may include all or part of a wireless network unit (not shown), a broadcast transceiver unit (not shown), a mobile communication unit (not shown), a short-range communication unit (not shown), and a wired communication unit (not shown). The description of each component is as described above.

[0080] Storage unit 320 is used to store various types of data and applications. For example, it can store the operating system (OS), route search program, map data, searched route data, etc. As described above, storage unit 230 can be configured not only as a memory-type storage element, but also as a detachable mobile storage unit such as a USB memory. Furthermore, storage unit 320 can be configured as an external database server connected to server 110.

[0081] The control unit 330 processes the collected traffic information and transmits it to the route guidance device 100. Then, it provides guidance information related to the calculated route up to the destination to the vehicle via the communication unit 310. Furthermore, the control unit 330 periodically monitors the vehicle's current position and detects whether there are intersections or other turning points within a predetermined distance from the vehicle's current position. Then, when a turning point is found within the predetermined distance from the vehicle, the control unit 330 identifies the search link identifier and lane link identifier of the road where the vehicle is located. Based on the direction information of the identified lane link identifier, it transmits lane change information guiding the vehicle to a turnable lane to the route guidance device 100 via the communication unit 310, enabling the vehicle to easily access intersections or other turning points. Finally, the control unit 330 comprehensively controls the server 110 according to an embodiment of the present invention.

[0082] The following explains how to determine and guide the direction of entry into an intersection based on the vehicle's current lane.

[0083] Figures 4 to 6 This is a schematic diagram illustrating a route guidance method according to an embodiment of the present invention.

[0084] In this invention, when a user inputs a starting point, destination, etc., on the route guidance device, the route guidance device or server searches for a route from the starting point to the destination, and then provides guidance based on the searched route. During the route search, specific lanes are not considered; instead, search links corresponding to the roads are used to find the route to the destination. For example, if there is a three-lane road including left-turn, straight-ahead, and right-turn lanes, the route guidance device or server does not consider the individual lanes during the route search, but only uses search link identifiers that allow travel from the starting point to the destination. However, after the route is determined, route guidance takes into account the individual lanes. For example, if going straight is required, the vehicle is guided to use the straight-ahead lane; if a left or right turn is required, the vehicle is guided to use the left or right turn lane.

[0085] In this invention, the route calculation to the destination can be performed in the navigation system installed in the vehicle, or it can be performed on the server and then provided to the navigator or a terminal that provides navigation functions.

[0086] Roads can consist of multiple lanes and lane markings to distinguish them. Further, they can include directional signs, traffic lights, etc. Links are provided for each of the multiple lanes and roads. A link is an electronically visualized road section connecting nodes along a road alignment. In this specification, links distinguished by road units are called search links, and links for each lane included in a search link are called lane links. A road includes more than one lane, and a search link can be equipped with a search link identifier (Search Link ID) as an inherent identifier to identify a predetermined road section. Each search link identifier can then correspond to a lane link identifier (Lane Link ID) related to each lane included in that search link. On the other hand, a node refers to an electronically visualized intersection, branch intersection, tunnel entrance, or other location where traffic flow changes. The following will be explained through... Figures 4 to 6 The above content will be explained in detail.

[0087] Figure 4 This is a schematic diagram illustrating guidance for each lane at a crossroads according to an embodiment of the present invention.

[0088] S0001 to S0004 (430, 435, 440, 445) are equivalent to the inherent search link identifiers assigned to each road section, defined as the interval between the predetermined start node and the predetermined end node.

[0089] The route guidance device or server uses the search link identifier to calculate the route to the destination and provides it to the user.

[0090] Figure 4 The nodes shown (400, 405, 410, 415, 420) represent intersections, bridge start and end points, viaduct start and end points, underground lane start and end points, tunnel start and end points, grade-separated interchanges (ICs), highway junctions (JCs), and other places where vehicle speeds change (or traffic flow changes) while traveling on the road. The nodes are connected by links.

[0091] like Figure 4 As shown, S0001 (430) can be assigned to the search link identifier of the interval where n0007 (400) belonging to location A is designated as the start node and n0008 (405) is designated as the end node. Then, S0002 (435) can be assigned to the search link identifier of the interval where n0008 (405) is designated as the start node and n0009 (410) is designated as the end node. Then, S0003 can be assigned to the search link identifier of the interval where n0008 (405) is designated as the start node and n0010 (415) belonging to location B is designated as the end node. Then, S0004 can be assigned to the search link identifier of the interval where n0008 (405) is designated as the start node and n0011 (420) is designated as the end node.

[0092] Match the lane link identifiers corresponding to each search link identifier in the search link identifier list. Figure 4 It can be observed that S0001(430) contains lane link identifiers I01(430a), I02(430b), and I03(430c), which indicate that the road section belonging to S0001(430) is 3 lanes.

[0093] According to embodiments of the present invention, information related to each search link and information related to lane links can be constructed into the tabular form shown in Table 1 and Table 2 below.

[0094] Table 1

[0095]

[0096] Table 1 illustrates an example of the data structure for a search link according to an embodiment of the present invention. In Table 1, the search link identifier (SID) is a unique value used to identify the search link, and the start and end nodes represent the identification numbers of the nodes used to indicate the start and end nodes of the search link. Then, the turning information of the search link represents the turning information of the search link. In Table 1, the turning information for S0001 (430) is defined in the order of "left turn," "straight," and "right turn," which corresponds to the clockwise positional order of the search link entering or exiting from node n0008 (405) within the intersection according to an embodiment of the present invention.

[0097] Table 2

[0098]

[0099] Table 2 shows the direction information corresponding to the lane link identifiers included in the search link according to an embodiment of the present invention.

[0100] Then, Figure 4 The following scenario is assumed: In order to travel along the route to the destination entered by the driver, the vehicle needs to move from point A to point B.

[0101] When a vehicle needs to travel from point A to point B, in order to enable the vehicle to travel from point A to point B, the route guidance device can know in advance that it needs to travel on roads belonging to S0001 (430) and S0003 (440). At this time, the route guidance device confirms that there is an intersection within a predetermined distance from point A 400, and confirms the lane link identifier (one of I01, I02, I03) where the vehicle is currently located, and confirms the search link identifier S0001 (430) corresponding to the confirmed lane link identifier. Then, the route guidance device confirms the end node n0008 of the confirmed S0001 (430), and confirms the number n of search links entering and exiting from the confirmed end node n0008 (405). Figure 4 In the search links entering and exiting from n0008 (405), there are S0002 (435) as a straight route, S0003 (440) as a left turn route, and S0004 (445) as a right turn route. Therefore, the total number of search links n is three.

[0102] As described above, when a vehicle travels along the route from S0001 (430) to S0003 (440), in Table 1, S0001 (430) is a search link that can turn left, go straight, and turn right. The total number of search links entering and exiting from the end node n0008 (405) is 3. Therefore, according to the embodiment of the present invention, the route guidance device compares the size of the rotation angle in the clockwise direction with S0001 (430) as the reference, S0002 (435) and S0004 (445), and determines the order of the search links searched based on the rotation angle.

[0103] exist Figure 4 When the vehicle travels from S0001 (430) to S0003 (440), the rotation angle from S0001 (430) to S0003 (440) can be determined to be 90 degrees. Therefore, the route guidance device determines the direction information of S0003 (440) as a left turn. When traveling from S0001 (430) to S0002 (435), the rotation angle can be determined to be 180 degrees. Therefore, the direction information can be determined to be straight.

[0104] Furthermore, when the vehicle travels from S0001 (430) to S0004 (445), the rotation angle from S0001 (430) to S0004 (445) can be determined to be 270 degrees. Therefore, the direction of travel can be determined to be a right turn. Then, in the embodiments of the present invention, the direction information based on the rotation angle range can be predetermined. For example, 80 degrees to 100 degrees can be a left turn, 170 degrees to 190 degrees can be straight, and 260 degrees to 280 degrees can be a right turn. Thus, the steering information based on the angle between search links can be determined. The steering information can be information used to display the direction of rotation required for the vehicle to travel from the current search link to the next search link on the travel route. For example, when traveling from S0001 (430) to S0004 (445), the steering information of the search link can be "left turn".

[0105] In the Figure 4In the process, the route guidance device identifies the first search link in a clockwise direction from S0001 (430) as S0003 (440), the second search link as S0002 (435), and the third search link as S0004 (445). Since the intersection the vehicle enters is a crossroads, the number of search links entering and exiting is n=3. Therefore, the route guidance device only searches up to the third search link. Because search link S0003 (440) on the driving route is the first search link existing clockwise from S0001 (430), the route guidance device can confirm that it is a route requiring a left turn at the intersection. Furthermore, the route guidance device can confirm that the second search link S0002 (435) is a route requiring a straight trip from S0001 (430), and the third search link S0004 (445) is a route requiring a right turn.

[0106] As described above, when the search for a number of search links matching "n" ends, the route guidance device confirms the turning information (left turn) corresponding to the search link located on the driving route among the searched search links, and confirms the direction of travel information of the current lane link identifier. According to Table 2, in Figure 4 In the above, the travel direction information of I01 (430a) is left turn, I02 (430b) is straight, and I03 (430c) is right turn. Therefore, the route guidance device confirms whether the travel direction information of the currently traveling vehicle is consistent with the travel direction information of the first search link S0003 (440) that has been searched.

[0107] If the vehicle is located in I01 (430a), the travel direction information for I01 (430a) is left turn. Since the steering information for traveling from S0001 (430) to S0003 (440) is also left turn, the route guidance device does not provide any other lane change guidance. However, if the vehicle is located in I02 (430b) or I03 (430c), the travel direction information for I02 (430b) and I03 (430c) is inconsistent with the steering information for traveling from S0001 (430) to S0003 (440). Therefore, a lane change guidance message can be sent to the user to guide them to change their current lane to the lane belonging to I01 (430a), or the lane change guidance message can be transmitted to the vehicle's control unit to control the steering wheel so that the vehicle can complete the lane change.

[0108] That is, according to the present invention, when a vehicle needs to change direction before entering an intersection, route guidance can be provided in lane units, depending on whether the vehicle is in a steerable lane. For example, if a left turn is required, the vehicle needs to be in the left-turn lane before turning. However, if the vehicle needs to turn left but is currently in a straight or right-turn lane, the route guidance device needs to instruct the driver to change lanes to the left-turn lane. Alternatively, if it is an autonomous vehicle, a control message needs to be transmitted to the control unit responsible for the vehicle's autonomous driving to change lanes.

[0109] Furthermore, when a vehicle needs to change lanes to safely enter an intersection, the vehicle's lane direction information must be consistent with the turning information between the current search link and the next search link. Therefore, this invention utilizes the turning information of search links, which is defined based on the turning position sequence of search links entering and exiting the intersection. That is, by comparing the turning information based on the turning sequence between search links in the driving direction with the current lane direction information, it is determined whether it is safe to change the vehicle's direction. If the vehicle is traveling in a lane where turning is not possible at the intersection, the vehicle is guided to change lanes in advance to a lane where a safe change of direction is possible.

[0110] Refer again Figure 4 When traveling from S0001(430) to S0004(445), according to Table 1, S0001(430) is a search path that allows left turns, straight travel, and right turns. Therefore, the rotation angles from S0001(430) to S0003(440), S0002(435), and S0004(445) are compared. That is, the rotation angle from S0001(430) to S0003(440) is the smallest, and then the rotation angles increase in the order of rotation angle from S0001(430) to S0002(435) and rotation angle from S0001(430) to S0004(445).

[0111] Therefore, it can be determined that when traveling from S0001(430) to S0003(440), it is a left turn; when traveling from S0001(430) to S0002(435), it is a straight line; and when traveling from S0001(430) to S0004(445), it is a right turn.

[0112] In addition, Figure 4In this scenario, the vehicle needs to travel from point A to point B. Therefore, the driver is instructed to make a left turn to travel from S0001 (430) to S0003 (440). If the vehicle has an automatic driving function, the vehicle's control unit controls the steering wheel, throttle valve, brake pedal, electric motor, and other drive-related components for the left turn, rather than the driver.

[0113] Meanwhile, in the Figure 4 The description states that the route guidance device searches for search links on the driving route in a clockwise direction from the current search link of the vehicle. However, this is only one embodiment of the present invention, and it can also search for search links on the driving route in a counterclockwise direction.

[0114] Explanation based on the above Figure 4 In such cases, the route guidance device provides route guidance in the following way.

[0115] First, the route guidance device confirms the lane link identifier (one of the links IO1 to IO3) corresponding to the lane where the vehicle is located, and confirms the search link S0001 (430) corresponding to the confirmed lane link identifier. Then, among the search links S0003 (440), S0002 (435), and S0004 (445) that enter or exit from the end node (END node) of the confirmed search link S0001 (430), it confirms the position of the search link S0003 (440) located on the driving route in a clockwise direction from the search link S0001 (430) where the vehicle is currently located. Alternatively, it confirms the position in a counterclockwise direction.

[0116] The route guidance device confirms that the search link S0003 (440) is the first one in a clockwise direction starting from the search link S0001 (430). Therefore, it can be confirmed that the turning information of S0003 (440) is "left turn" as the first information in the turning information of [Table 1]. Then, it confirms whether the travel direction information of the lane link identifier where the vehicle is located is "left turn," and whether it is consistent with the "left turn" as the determined turning information of S0003 (440). Then, it confirms whether the "left turn" as the determined turning information of S0003 (440) and the travel direction information of the lane link identifier corresponding to the lane where the vehicle is currently located are both "left turn."

[0117] If the turning information of the confirmed search link S0003 (440) is consistent with the travel direction information of the confirmed lane link identifier, the route guidance device guides the travel along the lane link; if they are inconsistent, the device guides the travel to a lane with travel direction information corresponding to the turning information of the search link S0003 (440).

[0118] That is, the route guidance device, in the search link identifiers (SIDs) of the road at the intersection the vehicle enters, removes the search link corresponding to the lane the vehicle is currently traveling in, and confirms the direction of the search link that the vehicle can travel on based on the number of remaining search links and their positional order. The route guidance device guides the vehicle to travel in the lane corresponding to the lane link identifier (LID) that is consistent with the direction of travel information, wherein the direction of travel information corresponds to the rotation direction of the search links existing on the travel route.

[0119] Figure 5 This is a schematic diagram illustrating route guidance for each lane at a three-way intersection according to an embodiment of the present invention.

[0120] Figure 5 Let's take the scenario where a vehicle needs to travel from point A to point B as an example.

[0121] S0001(550), S0002(560), and S0003(570) are the search link identifiers (SIDs) present at the three-way intersection, and n0005(500), n0006(505), n0007(510), and n0008(520) are nodes used to display the start and end positions of the search link. Then, I01(550a), I02(550b), and I03(550c) are lane link identifiers (LIDs) corresponding to the lanes contained in S0001(550), respectively; I05(560a), I06(560b), and I07(560c) are lane link identifiers (LIDs) corresponding to the lanes contained in S0002(560), respectively; and I21(570a) and I22(570b) are lane link identifiers (LIDs) corresponding to the lanes contained in S0003(570), respectively.

[0122] Create a table to represent the above. Figure 5 The relationship between the search links and lane links shown is illustrated in Tables 3 and 4 below.

[0123] Table 3

[0124] S0001 n0005 n0006 Go straight / Go straight and turn right S0002 n0006 n0007 Left turn / Go straight S0003 n0006 n0008 Go straight / turn right

[0125] Table 3 shows the relationship with Figure 5 This is an example of the data structure for the search link related to the three-way intersection shown. In Table 3, the search link identifier is a unique identifier used to identify the search link, and the start node and end node represent the identification number of the node used to indicate the start and end nodes of the search link. Then, the turning information of the search link represents the turning information of the search link. In Table 3, the turning information of S0001 (550) is defined in the order of "straight", "straight and right turn", which corresponds to the clockwise positional order of the search link entering and exiting from node n0006 (505) in the intersection according to an embodiment of the present invention.

[0126] Table 4

[0127]

[0128] Table 4 shows the data structure of the travel direction information of the lane link identifier (LID) corresponding to S0001 (550).

[0129] exist Figure 5 In the calculation, when the route guidance device needs to travel from point A to point B according to the calculated route, it needs to travel from n0005 (500) to n0008 (520). The search links between these nodes are S0001 (550) and S0003 (570). Then, there are a total of two search links entering and exiting n0006 (505), which is the end node of S0001 (550). Therefore, the result is n = 2. Thus, the intersection is determined to be a three-way intersection.

[0130] The route guidance device confirms that there is an intersection within a predetermined distance from the current location and performs lane change guidance to turn in the search link corresponding to the current location S0001 (550).

[0131] exist Figure 5 In this process, the route guidance device acquires the vehicle's position and confirms the lane link identifier (LID) that matches the acquired vehicle position information. Then, the direction angles 580° and 585° between n0006(505), which is the end node of S0001(550), and S0002(560) and S0003(570), which are search link identifiers entering and exiting from n0006(505), are calculated respectively. The turning information of the search link confirmed in Table 3 is determined in the order of decreasing calculated direction angles.

[0132] That is, S0002 (560) is located at 180 degrees (580) clockwise starting from n0006 (505), and S0003 (570) is located at 250 degrees (585) clockwise starting from n0006 (505). Therefore, S0002 (560) is in the first position starting from n0006 (505). Thus, the route guidance device can confirm that the direction information of S0002 (560) is the straight direction as the first information in the direction information of S0001 (550) defined in Table 3, and the turning information of S0003 (570) in the second position is the "straight and right turn direction" as the second information in the turning information of S0001 (550) defined in Table 3. On the one hand, unlike the example above, the route guidance device can also calculate the direction angles 580 and 585 between S0001 (500), which is the search link where the vehicle is currently located, and S0002 (560) and S0003 (570), which are the search link identifiers SID for entering and exiting from n0006 (505).

[0133] On the one hand, when the turning information of the search links existing in the driving route in a clockwise direction starting from the end node n0006 (505) is confirmed in Table 3, the driving direction information corresponding to the lane link identifier LID existing on the current search link S0001 (550) defined in Table 4 is compared with the turning information of the search link S0003 (570) existing on the driving route.

[0134] If the vehicle is located at I01 (550a) or I02 (550b), the "straight ahead" direction information for I01 (550a) or I02 (550b) is inconsistent with the "right turn" direction information for S0003 (570). Therefore, the route guidance device guides the vehicle to change lanes to I03 (550c) which has direction information (straight ahead and right turn), including "right turn" as the direction information for S0003 (570).

[0135] Figure 6 This is a schematic diagram illustrating route guidance according to each lane at a five-way intersection, based on an embodiment of the present invention.

[0136] Figure 6 Let's take the scenario where a vehicle needs to travel from point A to point B as an example.

[0137] S0001(650), S0002(655), S0003(660), S0004(665), and S0005(670) are search link identifiers (SIDs) present at the five-way intersection. n0006(600), n0007(605), n0008(610), n0009(615), n0010(620), and n0011(625) are nodes used to display the start and end positions of the search link SIDs. Then, I01(600a), I02(600b), I03(600c), I04(600d), I05(600e), and I06(600f) represent lane link identifiers (LIDs) corresponding to the lanes contained in S0001(650), respectively.

[0138] Create a table to represent the above. Figure 6 The relationship between the search links and lane links shown is illustrated in Tables 5 and 6 below.

[0139] Table 5

[0140]

[0141]

[0142] Table 5 shows the relationship with Figure 6 This is an example of the data structure for the search link related to the five-way intersection shown. In Table 5, the search link identifier is a unique identifier used to identify the search link, and the start node and end node represent the identification number of the node used to indicate the start and end nodes of the search link. Then, the turning information of the search link represents the turning information of the search link. In Table 5, the turning information of S0001 (650) is defined in the order of "left turn and U-turn", "left turn", "straight", and "right turn", which corresponds to the clockwise positional order of the search link entering and exiting from node n0007 (605) in the intersection according to an embodiment of the present invention.

[0143] Therefore, in the embodiments of the present invention, since the search links S0002 to S0005 entering and exiting from n0007 (605) are in a clockwise (or counterclockwise) order starting from n0007 (605) and are consistent with the turning information defined in S0001 (650), it can be confirmed that the turning information of S0003 (660) which is the second position in the clockwise direction corresponds to "left turn" as the second value of the turning information field of S0001 defined in Table 5, and the turning information of S0005 (670) which is the first position in the clockwise direction corresponds to "left turn and U-turn" as the first value of the turning information field of S0001 defined in Table 5. Then, the steering information of S0002 (655) in the third position corresponds to "straight" as the third value of the S0001 steering information field defined in Table 5, and the steering information of S0004 (665) in the fourth position corresponds to "right turn" as the fourth value of the S0001 steering information field defined in Table 5.

[0144] As described above, in this invention, the order of turning information defined in each search link can be determined by utilizing the clockwise or counterclockwise positional order of the search links entering and exiting at the end nodes of each search link.

[0145] Table 6

[0146]

[0147]

[0148] Table 6 shows the data structure of the travel direction information of the Lane Link Identifier (LID) contained in S0001 (650).

[0149] exist Figure 6 In the calculation, when the route guidance device needs to travel from point A to point B according to the calculated route, it needs to travel from n0006 (600) to n0009 (615). The search links between these nodes are S0001 (650) and S0003 (660). Then, there are a total of four search links entering and exiting n0007 (605), which is the end node of S0001 (650). Therefore, the result is n = 4. Thus, the intersection is determined to be a five-way intersection.

[0150] The route guidance device confirms that there is an intersection within a predetermined distance from the current location and performs lane change guidance to turn in the search link corresponding to the current location S0001 (650).

[0151] exist Figure 6In this process, the route guidance device acquires the vehicle's position, confirms a lane link identifier (LID) (one of the lanes from I01(600a) to I06(600f)) that matches the acquired vehicle's position information, and confirms a search link identifier S0001(650) containing the confirmed LID. Then, the direction angles 675°, 680°, 685°, and 690° between n0007(605), the end node of S0001(650), and the search link identifiers SIDs S0002(655), S0003(660), S0004(665), and S0005(670), which are the search link identifiers entering and exiting from n0007(605), are calculated respectively. The turning information of the search link confirmed in Table 5 is determined in the order of decreasing calculated direction angles.

[0152] That is, S0005 (670) is located at 30 degrees (675) clockwise starting from n0007 (605), and S0003 (660) is located at 80 degrees (680) clockwise starting from n0007 (605). Therefore, S0005 (670) is located in the first position clockwise starting from n0007 (605), and S0003 (660) is located in the second position. Using the same method, the remaining search link identifiers SIDs are also located in clockwise order. Since S0002 (655) is located at 185 degrees (685) clockwise starting from n0007 (605), and S0004 (665) is located at 260 degrees (690) clockwise starting from n0007 (605), S0002 (655) is located in the third position clockwise starting from n0007 (605), and S0004 (665) is located in the fourth position clockwise starting from n0007 (605).

[0153] As mentioned above, in Figure 6 For S0002 (655) to S0005 (670) entering and exiting from n0007 (605), the angle in the clockwise direction starting from n0007 (605) is calculated. Therefore, the turning information related to each search link can be determined.

[0154] That is, S0005 (670) is 30 degrees clockwise from n0007 (605) and is the first one. Therefore, it is confirmed that the steering information for driving towards S0005 (670) corresponds to "left turn and U-turn" as the first information in the steering information of S0001 (650) defined in Table 5. The travel direction information of the lane link identifier LID of the vehicle currently driving is confirmed by Table 6 in I01 (600a) to I06 (600f) which are vehicle links included in S0001 (650). For example, if a vehicle needs to travel from n0007 (605) to S0003 (660), it is confirmed whether it is traveling in a lane corresponding to a lane link with the following travel direction information, namely, travel direction information consistent with the turning information of S0003 (660) confirmed in [Table 5]. If it is traveling in an inconsistent lane, the route guidance device guides the vehicle to travel in a lane that matches a lane link with travel direction information consistent with the turning information of the search link.

[0155] If the vehicle is currently traveling on I01 (600a), the direction of travel information for I01 (600a) in [Table 6] is "left turn and U-turn," which is inconsistent with the "left turn" direction information defined as S0001 (650) in [Table 5], which belongs to the position sequence of S0003 (660). Therefore, the route guidance device can determine that a lane change is required. However, if the vehicle is traveling on I02 (600b), the direction of travel information for I02 (600b) in [Table 6] is "left turn." Therefore, it can be confirmed that this is consistent with the direction information belonging to S0003 (660), and the route guidance device does not perform additional lane change guidance.

[0156] However, in other embodiments of the present invention, when there are multiple directions of travel for the current driving lane, and the turning information of the search link identifier (SID) on the driving route entering or exiting the intersection includes one of the multiple directions of travel, lane change guidance may not be required. For example, when the turning information of the search link identifier (SID) is "left turn and U-turn", and the direction of travel for the current driving lane is "left turn", lane change guidance may not be required.

[0157] If a vehicle needs to travel from n0007 (605) to n0008 (610), the route guidance device confirms the position sequence of S0002 (655) and determines that it is the third position clockwise. Therefore, in order to travel from S0001 (650) to S0002 (655), the route guidance device checks whether the vehicle is traveling in the "straight" direction lane, which is the third piece of information in the steering information of S0001 (650) as defined in Table 5. If the vehicle is not in a lane with a straight-ahead direction, the device guides the vehicle to change lanes. In this case, as defined in Table 6, the route guidance device only needs to confirm whether the vehicle is traveling in lanes I03 (600c), I04 (600d), or I05 (600e) with "straight-ahead" direction information.

[0158] As another approach method, S0005 (670) is located in the first position while rotating clockwise at a 30-degree angle (675) from n0007 (605). Therefore, it can be confirmed that it is the leftmost turning information (first left turn) in the left turn route entering and exiting from n0007 (605). S0003 (660) is located in the second position while rotating clockwise at an 80-degree angle (680) from n0007 (605). Therefore, it can be confirmed that it is the second left turn route starting from the leftmost position in the left turn route entering and exiting from n0007 (605) (second left turn). Using the same method, S0002 (655) is located in the third position while rotating clockwise at an angle of 185 degrees (685) from n0007 (605). Therefore, it can be confirmed that it is the turning information (straight) corresponding to the straight route entering and exiting from n0007 (605). S0004 (665) is located in the fourth position while rotating clockwise at an angle of 260 degrees (690) from n0007 (605). Therefore, it can be confirmed that it is the turning information (right turn) corresponding to the unique right turn route entering and exiting from n0007 (605).

[0159] In embodiments of the present invention, turning information can be determined based on the positional sequence of the routes entering and exiting from the end node and the angle of the routes entering and exiting from the end node. For example, it can be determined that when the angle between the receiving node and the route entering and exiting from the end node is between 0 and 170 degrees, it is a left turn; when it is between 170 and 190 degrees, it is a straight turn; and when it is between 190 and 355 degrees, it is a right turn.

[0160] Therefore, the route guidance device can confirm that the turning information of S0003 (660) is the left turn direction, which is the second information in the turning information of S0001 (650) defined in Table 5. For example, when it is S0005 (670), it can be confirmed that it is the left turn and U-turn direction, which is the first information in the turning information of S0001 (650) defined in Table 5. When it is S0002 (655), it can be confirmed that it is the straight direction, which is the third information in the turning information of S0001 (650) defined in Table 5.

[0161] exist Figure 6 In one embodiment, if the steering information of the search link identifier SID on the confirmed driving route is inconsistent with the travel direction information of the lane link identifier currently being driven by the vehicle, the route guidance device can also guide the vehicle to change lanes to lanes with a travel direction consistent with the steering information of the search link identifier SID.

[0162] Alternatively, when the steering information of the search link identifier (SID) on the confirmed driving route includes the direction of travel information of the lane link identifier currently being traveled by the vehicle, the route guidance device according to other embodiments of the present invention may also not perform lane change guidance. This is because, as Figure 6 As shown, when a vehicle enters or exits from n0007 (605) to S0003 (660) or S0005 (670), if the vehicle is traveling in lane S0001 (650) and the direction of travel information is a lane where "left turn" is allowed, it can safely enter or exit.

[0163] Figure 7 This is a flowchart of a route guidance method according to an embodiment of the present invention.

[0164] In step S700, the route guidance device obtains the destination from the user input. In step S702, it determines the current position of the vehicle. In step S704, it calculates the driving route to the destination. In step S706, it provides route guidance according to the calculated route.

[0165] In step S708, if there is an intersection ahead within a predefined distance from the current location, then in step S710, the route guidance device confirms the current lane link identifier, and in step S712, confirms the search link identifier (SID) corresponding to the confirmed lane link identifier. Conversely, if the detection result in step S708 indicates that there is no intersection ahead, then in step S706, the route guidance device continues to provide route guidance.

[0166] In step S712, if a search link identifier is confirmed, then in step S714, the route guidance device confirms the number n of search links entering or exiting from the end node of the confirmed search link identifier. For example, when it is an intersection, the number of search links entering or exiting from the end node is three, therefore, n is 3.

[0167] Then, in step S716, the route guidance device searches for the next search link in a clockwise (counterclockwise) direction, starting from the search link corresponding to the current driving lane. In step S718, the turning information corresponding to the order of the search links is confirmed.

[0168] Finally, in step S720, the route guidance device compares the turning information corresponding to the order of the search links confirmed in step S718 with the travel direction information of the lane link identifier of the current driving lane, thereby providing route guidance. In step S716, the route guidance device can also search for search links in a counterclockwise direction.

[0169] In the Figure 7 The text states that the entity performing the action is the route guidance device; however, in... Figure 7 In step S700, if the route guidance device with communication function transmits the destination obtained from the user input to the server via a communication connection, then steps 702 to 720 can be executed on the server. In this case, in step 702, the server determines the vehicle's position by communicating with the route guidance device installed on the vehicle. That is, when executing the route calculation step according to an embodiment of the present invention on the server, according to an embodiment of the present invention, lane change guidance information can also be generated on the server and provided to the route guidance device via communication, wherein the lane change guidance information is information for entering an intersection located within a predetermined distance from the current driving lane.

[0170] Figure 8 yes Figure 7 A flowchart detailing the S716 step.

[0171] exist Figure 7In step S714, when the maximum number of search links n is confirmed, in step S800, the route guidance device sets the variable i = 1 for calculating the number of search links searched. Then, in step S801, the route guidance device checks whether i is greater than the maximum number of search links. If the detection result in step S801 is i less than n, it is determined that there are still search links that need to be searched, and in step S802, the search link located at the i-th position is searched. Conversely, if i is greater than n in step S801, in step S808, the route guidance device sends a message indicating that a search has been performed again or an error has occurred. Then, in step S804, the route guidance device confirms whether the search link searched in step S802 is located at the i-th position. Figure 7 The search links on the driving route calculated in step S704.

[0172] Upon confirmation in step S804, if the searched link is located on the driving route, the route guidance device proceeds to step S806 to confirm the turning information of the search link at position i. Conversely, if the confirmation in step S804 does not result in a search link located on the driving route, the route guidance device increments by i by 1 and proceeds to step S801 in order to detect the next search link.

[0173] Figure 9 yes Figure 7 A flowchart detailing the S720 steps.

[0174] In step S900, the steering information confirmed in step S718 is compared with the travel direction information of the lane link identifier (LID) corresponding to the current driving lane. If they match (step S902, "Yes"), then lane change guidance is not executed, and the current route continues to be guided.

[0175] However, in step S900, if the steering information confirmed in step S718 is inconsistent with the travel direction information corresponding to the current driving lane (step S902, "No"), the route guidance device proceeds to step S904.

[0176] In step S904, the route guidance device generates lane change guidance information to guide a change to a lane with a direction of travel that matches the steering information confirmed in step S718. In step S906, lane change guidance is performed using the generated lane change guidance information. In step S908, route guidance is provided until the destination is reached.

[0177] In step 902, only the case where the steering information of the confirmed search link is consistent with the travel direction information of the driving lane is described according to an embodiment of the present invention. However, according to other embodiments of the present invention, the steering information of the confirmed search link may be replaced by the case where the steering information of the confirmed search link includes the travel direction information of the driving lane.

[0178] Figure 10 This is a block diagram of a server according to an embodiment of the present invention.

[0179] exist Figure 10 In this system, the communication unit 1000 and the route guidance device transmit and receive data wirelessly. The route guidance device includes a navigation device installed in the vehicle or a terminal with communication capabilities, such as a smartphone of a user sitting in the vehicle. Specifically, after receiving departure and destination information from the route guidance device, the communication unit 1000 provides the route guidance device with a driving route to the destination calculated by the route calculation unit 1004.

[0180] Storage unit 1006 stores digital map data used for performing route guidance, and information contained in the map data such as search link identifier (SID) and lane link identifier (LID).

[0181] The control unit 1002 comprehensively controls the operation of the server. When it receives an invitation message for providing route guidance, departure point, destination, and current vehicle location information from the vehicle or driver's route guidance device via the communication unit 1000, it controls the route calculation unit 1004 to calculate the driving route from the vehicle's current location to the destination. Then, the driving route calculated by the route calculation unit 1004 is sent to the route guidance device via the communication unit 1000.

[0182] Based on the control of the control unit 1002, the route calculation unit 1004 calculates the travel route to the destination invited by the route guidance device, such as... Figures 7 to 9 The method described above describes a lane change operation that is easily completed before entering an intersection when there is an intersection on the driving route. This is achieved by comparing the travel direction information of the current driving lane with the turning information of the search links entering or exiting from the end node of the current driving lane. Specifically, the route calculation unit 1004 confirms the lane link identifier (LID) of the vehicle's current lane, confirms the search links of the confirmed lane link identifier, confirms the number n of search links entering or exiting from the end node of the lane link identifier of the vehicle's current lane, and searches for search links in a clockwise or counterclockwise direction starting from the current driving lane. Then, the route calculation unit 1004 confirms the turning information corresponding to the order of the search links and compares it with the travel direction information of the current driving lane to provide route guidance.

[0183] In other words, Figures 7 to 9 Alternatively, the route calculation unit 1004 of the server can be used instead of the route guidance device.

[0184] Figure 11 This is a flowchart of a route guidance method using a route guidance device according to an embodiment of the present invention.

[0185] In step S1100, the route guidance device obtains the destination from the user input. Then, in step S1102, it transmits the input destination and current location to the server. Next, in step S1104, the route guidance device receives guidance information from the server related to the calculated travel route from the current location to the destination. At this time, the guidance information received from the server in step S1104 includes search links following the current search link on the calculated travel route, and lane link information contained within those search links. This includes information on search links and lane links instructing the vehicle to travel along the calculated route.

[0186] In step S1106, the route guidance device uses the route guidance information received from the server in step S1104 to guide the user to a route or to transmit the route guidance information to the vehicle's control unit, thereby enabling the vehicle to travel along the route.

[0187] According to the above Figure 11 The route guidance method can be executed by a navigation device installed in the vehicle, or by a smartphone that communicates wirelessly with the server.

[0188] Figure 12 The following describes an embodiment of the invention applied in an autonomous vehicle.

[0189] exist Figure 11 In step S1104, the route guidance device receives the calculated driving route guidance information from the server. In step S1200, it checks whether the current mode is route guidance mode. If the current mode is route guidance mode in step S1200, it provides route guidance information in step S1202.

[0190] Conversely, in step S1200, if it is not in guidance mode, the route guidance device determines that it is in automatic driving mode, and then activates automatic driving mode in step S1204. In step S1206, the driving route guidance information received in step S1104 is transmitted to the vehicle control unit.

[0191] In step S1208, the vehicle's control unit controls the vehicle's operation based on the received driving route guidance information. For example, the vehicle's control unit can control the steering wheel, throttle valve, brake pedal, electric motor, etc., to enable the vehicle to change lanes.

[0192] Figure 13 This is a block diagram of a route guidance device according to an embodiment of the present invention.

[0193] The communication unit 1300 transmits and receives data with the server via mobile communication networks, wireless communication networks, etc., and the interface unit 1304 is connected to the vehicle control unit (not shown) that comprehensively controls the operation of the vehicle's electrical, electronic, and mechanical components, thereby transmitting and receiving various control information and data.

[0194] The positioning unit 1306 measures the current position using GPS or GNSS and generates position information. The storage unit 1308 stores various programs for providing route guidance services, various program codes for activating the route guidance device, and route guidance information sent to the server via the communication unit 1300.

[0195] The route guidance execution unit 1310 executes route guidance up to the destination. It can perform route guidance using route guidance information received from the server, or it can perform route guidance using route guidance information calculated by its own route guidance program without communicating with the server.

[0196] When a user receives a destination and route guidance invitation via the input unit (not shown), the control unit 1302 transmits the current location (defined by the positioning unit 1306) and the destination information input by the user to the server via the communication unit 1300. When the server receives the calculated travel route information from the current location to the destination via the communication unit 1300, the route guidance execution unit 1310 uses the received travel route information to provide route guidance. Conversely, the control unit 1302 can execute route guidance from the current location measured by the positioning unit 1306 to the destination without communicating with the server via the communication unit 1300.

[0197] Then, when the control unit 1302 connects to the vehicle's control unit via the interface unit 1304, the control unit 1302 controls the vehicle to travel according to the route guidance information received from the server via the communication unit 1300 or the route guidance information generated by the route guidance execution unit 1310. Specifically, when the user inputs a destination, the control unit 1302 controls the positioning unit 1306 to determine the current location and controls it to transmit the destination and current location to the server via the communication unit 1300.

[0198] Then, the server receives the calculated driving route to the destination via the communication unit 1300, stores the received driving route in the storage unit 1308, and controls the route guidance execution unit 1310 to perform route guidance according to the received driving route.

[0199] The following describes a route guidance device and method according to another embodiment of the present invention. According to another embodiment of the present invention, by comparing the travel direction information of the lane in which the vehicle is currently traveling with the travel direction of a future search link to which the vehicle will move, lane change guidance can be provided to the driver, or lane changes of the vehicle can be controlled. The following detailed description of the route guidance device and method according to another embodiment of the present invention will focus primarily on the parts that differ from the embodiments of the present invention described above.

[0200] Figure 14 This is a schematic diagram of search links and lane links shown to illustrate a route guidance concept according to another embodiment of the present invention.

[0201] In another embodiment of the invention, when a user inputs a departure point, destination, etc., via an electronic device, the route guidance providing device performs a route search. At this time, when searching for a route related to the entire driving route from the departure point to the destination, the route guidance providing device considers only the road and not lane information, searching for the route to the destination. Then, during actual driving, the route guidance providing device considers each lane and provides route guidance. As an example, when the route guidance device initially performs a route search, this route search does not consider the direction of travel of the lanes, but only uses road link information for route guidance. Then, during actual driving, if it is necessary to go straight on the driving route, the route guidance device provides route guidance to utilize the lane with straight-going direction information; if it is a left turn or a right turn, it guides the use of the lane with left-turn direction information or right-turn direction information, or the route guidance device can determine the vehicle's direction of movement.

[0202] Figure 14 The terms used, such as search link, lane link, search link identifier, lane link identifier, and node, are consistent with the above. Figures 1 to 13 The terminology used is the same.

[0203] Figure 14 The diagram shows the road shape at an intersection with four search links, and... Figure 14 The search link identifiers corresponding to each search link shown are S0001 (1450), S0002 (1452), S0003 (1454), and S0004 (1456). Then, in Figure 14In the search link, there are multiple lane links. Search link S0001 (1450) contains lane links with lane link identifiers I01 (1402), I02 (1404), and I03 (1406). Search link S0002 (1452) contains lane links with lane link identifiers I05 (1408), I06 (1410), and I07 (1412). Then, search link S0003 (1454) contains lane links with lane link identifiers I11 (1414), I12 (1416), and I13 (1418). Search link S0004 (1456) contains lane links with lane link identifiers I21 (1420), I22 (1422), and I23 (1424).

[0204] In addition, vehicle travel direction information is pre-set in each lane link, and this vehicle travel direction information is preferably kept up-to-date whenever the lane travel direction information changes due to road construction, etc. As an example, in... Figure 14 In the meantime, I01 (1402) is designated as the left-turn lane, I02 (1404) as the straight-ahead lane, and I03 (1406) as the right-turn lane.

[0205] Figure 14 In the table, n0007(1460), n0008(1462), n0009(1464), n0010(1466), and n00011(1468) are nodes, and the nodes are connected to each other through links.

[0206] Figure 14 The assumption is that vehicles on the route need to move from point A to point B. Thus, Figure 14 In the process, the route guidance device confirms the lane link (one of I01 (1402) to I03 (1406)) where the vehicle is currently located, and confirms the search link S0001 (1450) that includes the confirmed lane link. Then, after confirming n0007 (1460), which is the start node and n0008 (1462), which is the end node of the currently located search link S0001 (1450), the device confirms the search link S0003 (1454) that exists on the driving route to point B among the search links (S0002 (1452), S0003 (1454), S0003 (1456)) that enter and exit from n0008 (1462).

[0207] exist Figure 14In this context, S0003 (1454) has a travel direction from the left-turn direction of node n0008 (1462). Therefore, according to another embodiment of the route guidance device of the present invention, lane change guidance can be performed by determining whether the travel direction information of the current lane link is consistent with the travel direction of S0003 (1454). Specifically, lane change guidance or lane change control can be performed based on which lane of I01 (1402), I02 (1404), or I03 (1406) the vehicle is currently located in. For example, if the vehicle is currently located in the lane corresponding to the I03 (1406) link with right-turn travel direction information, or in the I02 (1404) link with straight-ahead travel direction information, the route guidance device can perform lane change guidance to change lanes to I01 (1402) link with left-turn travel direction information, or control the vehicle to perform a lane change action.

[0208] In another embodiment of the invention, the search link S0001 (1450) corresponding to the road in which the vehicle is currently traveling is referred to as the current search link, and the search link S0003 (1454) that the vehicle will travel on, which is a continuous search link on the driving route, is referred to as the future search link.

[0209] In another embodiment of the invention, search links and lane links are used for route guidance. Therefore, the data related to search links and lane links can be configured as shown in Tables 7 and 8 below. The data related to search links and lane links can be stored in the route guidance device together with map data, or it can be stored in the server that provides route guidance services.

[0210] Table 7

[0211]

[0212] Table 7 illustrates a data structure including search links and the start and end nodes contained within those search links. Referring to Table 7, the SID serves as a search link identifier and has an inherent value. A search link then comprises at least two nodes, one representing the start node of the search link and the other representing the end node of the search link.

[0213] On one hand, Table 8 below is a table illustrating the lane link data structure according to another embodiment of the present invention. In Table 8 below, LID serves as a lane link identifier and has an inherent value. LID may have an inherent value across the entire map data or may only have an inherent value on the search link. In Table 8 below, SID represents a search link containing LID, and Direction represents the lane travel direction information that may correspond to each LID.

[0214] Table 8

[0215]

[0216] As an example, with Figure 14 The data related to the search links S0001 (1450), S0003 (1454) and lane links I01 to I03 (1402, 1404, 1406) and I11 to I13 (1414, 1416, 1418) shown can be found in Table 9 and Table 10.

[0217] Table 9

[0218]

[0219]

[0220] Table 10

[0221] I01 S0001 Turn left I02 S0001 straight I03 S0001 Go straight and turn right I11 S0003 Turn right I12 S0003 straight I13 S0003 straight

[0222] In Table 9, Node1 and Node2 represent the start and end nodes of each search link identifier, respectively. Table 10 shows a data structure that includes the search link identifiers and lane travel direction information corresponding to each lane link identifier.

[0223] In another embodiment of the invention, since search links are determined between nodes, the data related to search links includes node-related information. However, considering the increase in data volume during route travel, the travel direction information between individual search links is not stored separately, but can be determined through other processes based on the route. The data related to lane links includes information related to the lane's travel direction and information related to the corresponding search link identifier. Here, the search link identifier corresponds to the search link associated with the road containing the lane link identifier. Whether a lane change occurs between lane link identifiers is determined using the travel direction information between search links and the travel direction information of the lane link identifier.

[0224] In another embodiment of the invention, since route guidance is provided according to lane units, the vehicle needs to be in a steerable lane when it needs to turn. For example, if a left turn is required, the vehicle needs to be in the left-turn lane before turning; if it is in a straight or right-turn lane, guidance is required to change lanes to the left-turn lane.

[0225] Furthermore, when determining whether a vehicle needs to steer for a safe lane change, it needs to understand the driving information for the next stage based on its current driving status. Therefore, in another embodiment of the invention, such as... Figure 16 as well as Figure 17 As shown, the direction of travel between search links is calculated using angles. That is, the direction of travel between search links can be used to determine whether the vehicle needs to turn to enter a future search link.

[0226] One of the four methods described below can be used to determine the direction of travel between search links.

[0227] First, the method identifies directions such as left turns, straight ahead, and right turns based on the rotation angle between search links. For example, when a vehicle travels from S0001 (1450) to S0003 (1454), the rotation angle can be considered approximately 90 degrees to the left of S0001 (1450), thus indicating a left turn. When traveling from S0001 (1450) to S0002 (1452), the rotation angle can be considered approximately 180 degrees to the left of S0001 (1450), thus indicating a straight ahead. Furthermore, when traveling from S0001 (1450) to S0004 (1456), the rotation angle can be considered approximately 270 degrees, thus indicating a right turn. In addition, the range of rotation angles can be determined in advance. For example, 80 degrees to 100 degrees is for left turns, 170 degrees to 190 degrees is for going straight, and 260 degrees to 280 degrees is for right turns. The rotation angles within the predetermined range can be determined in advance, and then the angles between the search links can be identified to determine the turning information.

[0228] As an alternative method, a separate turn-search link can be constructed. A turn-search link refers to a lane link with pre-constructed turn information within the existing search links at an intersection. For example... Figure 15As shown, assuming a turning search link is constructed at a crossroads, two straight-ahead search links S0020 and S0021, and eight turning search links S0022, S0023, S0024, S0025, S0026, S0027, S0028, and S0029 are constructed. Using the method described above, the route guidance device calculates all search links included on the route when determining the driving route, and the vehicle only follows the calculated search links, thus reducing the load during route calculation. However, it also has the problem of requiring the pre-storage of a large amount of data.

[0229] Another method involves classifying intersections and pre-determining the intersection type and directional information to determine turning information. For example, type A intersections represent crossroads, with four directional information points (east, west, south, and north) corresponding to the intersection location. Traveling from east to north is a right turn, from east to south is a left turn, and from east to west is going straight, allowing directional information to be predetermined. Similarly, type B intersections represent three-way intersections, with three directional information points (east, south, and north) corresponding to the intersection location. Traveling from east to north is a right turn, and from east to south is a left turn, again allowing directional information to be predetermined.

[0230] As another method, the feasible directions of the search links and the rotation angles between them can be considered to determine rotation information. For example... Figure 14 As shown in Table 11, the possible directions of travel for S0001 to S0004 (1450 to 1454) can be determined in advance.

[0231] Table 11

[0232] S0001 n0007 n0008 left straight right S0002 n0008 n0009 straight right S0003 n0008 n0010 left straight right S0004 n0008 n0011 straight right

[0233] At this point, "left" means turn left, "straight" means go straight, and "right" means turn right. Therefore, "left-straight-right" means you can turn left, go straight, or turn right, while "straight-right" means you can go straight or turn right.

[0234] like Figure 14As shown, when traveling from S0001 (1450) to S0004 (1456), S0001 (1450) is a search link that allows left turns, straight travel, and right turns. Therefore, the rotation angles from S0001 (1450) to S0003 (1454), S0002 (1452), and S0004 (1456) are compared. That is, the rotation angle from S0001 (1450) to S0003 (1454) is the smallest, and then the rotation angles from S0001 (1450) to S0002 (1452) and from S0001 (1450) to S0004 (1456) increase in that order. Therefore, when traveling from S0001 (1450) to S0003 (1454), since S0003 (1454) is the first position clockwise starting from S0001 (1450), it can be determined that it is a left turn. When traveling from S0001 (1450) to S0002 (1452), since S0001 (1450) is the second position clockwise starting from S0001 (1450), it can be determined that it is going straight. When traveling from S0001 (1450) to S0004 (1456), since S0001 (1450) is the second position clockwise starting from S0004 (1456), it can be determined that it is a right turn.

[0235] Figure 16 This is a flowchart of a route guidance method using a route guidance device according to another embodiment of the present invention.

[0236] In step S1605, the route guidance device obtains the destination from the user input. Then, in step S1610, it measures the vehicle's current position. In step S1615, it calculates the route from the measured current position to the user-inputted destination. In step S1620, the route guidance device confirms the lane identifier corresponding to the current position. At this time, the route guidance device can use an auxiliary device to confirm which lane the vehicle is in. This auxiliary device is such as an altitude-adjusted GNSS and inertial navigation system (INS), inertial measurement unit (IMU), or distance measuring instrument (DMI) that provides a positional accuracy of 10-25 cm for the lane belonging to the current position. Specifically, in another embodiment of the invention, the route guidance device substitutes the vehicle's position coordinates (x, y) measured by the method described above into the following [Mathematical Formula 1] to confirm the lane link currently occupied by the vehicle.

[0237]

Mathematical Formula 1

[0238] L(x,y)-α≤C(x,y)≤L(x,y)+α

[0239] In the aforementioned [Mathematical Formula 1], C(x, y) is the position on the map data coordinates corresponding to the currently measured vehicle position, L(x, y) is the position of the lane link corresponding to the currently measured vehicle position, and α is the position correspondence tolerance. That is, when the currently measured vehicle position is within a predetermined range starting from the lane link position confirmed by the vehicle's position coordinates, the route guidance device can confirm that the vehicle's position corresponds to the confirmed lane link position.

[0240] In step S1625, the route guidance device confirms the current search link containing the confirmed lane identifier. In step S1630, it confirms the future search link that is continuous with the current search link on the driving route. In step S1635, it confirms the direction of travel from the current search link to the future search link.

[0241] Regarding the process in step S1635 where the route guidance device confirms the direction of travel from the current search link to the future search link, refer to... Figure 18 as well as Figure 19 Please provide an explanation.

[0242] Figure 18 as well as Figure 19 This is a schematic diagram illustrating the process of confirming the direction of travel from the current search link to the future search link in a route guidance device, according to another embodiment of the present invention.

[0243] like Figure 18 As shown, it can be seen that the points centered on the dot are East 1810, West 1820, South 1815, and North 1805, which is the same structure as the map data. Figure 18 In the diagram, 1805 on the north side is at 0 degrees (360 degrees) from the center point; 1810 on the east side is at 90 degrees from the center point; 1815 on the south side is at 180 degrees from the center point; and 1820 on the west side is at 270 degrees from the center point. In another embodiment of the invention, when determining the vehicle's direction of travel, the angle between the coordinates of the current search link's end node and the coordinates of the future search link's end node is calculated. This angle can be calculated using the tangent function of a trigonometric function.

[0244] Refer again Figure 18For the angle between the coordinates of the end node of the current search link and the coordinates of the end node of the future search link calculated by the tangent function, if it is between 45 degrees (1830) and 135 degrees (1835) relative to the direction of travel, the route guidance device determines that it is a right turn direction. If the calculated angle is between 225 degrees (1840) and 315 degrees (1845) relative to the direction of travel, it is determined that it is a left turn direction. If the calculated angle is between 315 degrees (1845) and 45 degrees (1830), it is determined that it is a straight direction.

[0245] exist Figure 19 The text uses actual driving routes to illustrate the relationship between the angles between the coordinates of the search links and the direction of travel of the search links.

[0246] exist Figure 19 In the attached map, reference numeral 1900 indicates map data, which is shown in coordinate form for ease of understanding. Figure 19 In the example, assume that the vehicle starts from node N0001 (1902) with coordinates 10, 10, passes through node N0002 (1904) with coordinates 6, 6, and node N0003 (1906) with coordinates 9, 3, and travels to node N0004 (1908) with coordinates 4, 4.

[0247] At this point, the vehicle needs to change its direction of travel at N0002 (1904) and N0003 (1906) respectively. Therefore, in another embodiment of the present invention, it is necessary to change lanes according to the direction of travel of the search link.

[0248] exist Figure 19 In the current search link 1910, the angle between the end node N0002 (1904) and the end node N0002 (1904) of the future search link 1920, which is continuous from the current search link 1910, is 135 degrees (1950). Therefore, if in Figure 18 As described above, the route guidance device can confirm that the direction of travel from the current search link 1910 to the future search link 1920 is a left turn direction. Therefore, if the direction of travel information of the lane where the vehicle is currently located is not a left turn direction, lane change guidance or lane change control can be performed.

[0249] Then, if the vehicle is located on the search link marked 1920 in the attached diagram, the current end node of the search link is N0003 (1906), and the future end node of the search link is N0004 (1908). The angle between the two nodes is 281.3 degrees. Therefore, if in Figure 18As described above, the route guidance device can confirm that the direction of travel from the current search link 1920 to the future search link 1930 is a right turn direction. Therefore, if the direction of travel information of the lane where the vehicle is currently located is not a right turn direction, lane change guidance or lane change control can be performed.

[0250] Again in Figure 16 In step S1640, the route guidance device compares the direction of travel confirmed in step S1635 with the direction of travel of the lane in which the vehicle is located, and determines in step S1645 whether a lane change is required.

[0251] For step S1640, via Figure 17 Please provide a detailed explanation. Figure 17 In step S1710, the route guidance device calculates the angle between the coordinates of the current search link's end point and the coordinates of the future search link's end point, pre-set on the map based on the vehicle's direction of travel. In step S1720, the calculated angle is compared with a pre-set reference angle range. Then, in step S1730, the route guidance device confirms the direction of travel for the future search link based on the comparison result from step S1720.

[0252] If lane changing is not required in step S1645, the direction of travel of the current lane of the vehicle is consistent with the direction of travel of the future search link. Therefore, in step S1650, the route guidance device guides the vehicle to maintain the current lane.

[0253] Conversely, if a lane change is required in step S1645, the route guidance device will determine whether the driving mode is route guidance mode or automatic driving mode in step S1655. If the determination result in step S1655 is that the current driving mode of the vehicle is route guidance mode, then in step S1660, the route guidance device will guide the vehicle to change lanes to lanes with travel direction information consistent with the travel direction of the search link. However, if the determination result in step S1655 is that the current driving mode of the vehicle is automatic driving mode, then in step S1665, the route guidance device will guide the vehicle to change lanes to lanes with travel direction information consistent with the travel direction of the search link.

[0254] On the one hand, route guidance devices or servers can be used to demonstrate this. Figures 14 to 19 Another embodiment of the invention described herein. As an example, when the route guidance device and the server cannot communicate, the route guidance device alone can be used to implement... Figures 14 to 19 Another embodiment of the invention described herein. As another example, when the route guidance device and the server can communicate, the route guidance device and the server can be used to embody... Figures 14 to 19 Another embodiment of the invention described herein. For this purpose, refer to... Figure 20 as well as Figure 21 A more detailed explanation will follow.

[0255] Figure 20 It is used to embody Figures 14 to 19 A block diagram illustrating a route guidance device according to another embodiment of the present invention is shown below. Figure 20 As shown, a route guidance device according to another embodiment of the present invention includes all or part of an interface unit 2001, an input unit 2002, a display unit 2003, a route guidance execution unit 2004, a communication unit 2005, a storage unit 2006, a positioning unit 2007, and a control unit 2008. The unit constituting the route guidance device according to another embodiment of the present invention can perform… Figure 2 , Figure 13 The functions of the units with the same names shown are as follows. Specifically, the communication unit 2005 can send and receive data with the server via a mobile communication network, wireless communication network, etc. Then, the interface unit 2001 connects to the vehicle control unit (not shown), which comprehensively controls the operation of the vehicle's electrical, electronic, and mechanical components, thereby enabling the sending and receiving of various control information and data. Then, the input unit 2002 can receive user input such as destination input. Then, the display unit 2003 can display route information using a high-precision map. Then, the storage unit 2006 can store various data and programs required for the operation of the route guidance device. Then, the positioning unit 2007 can measure the current position using GPS or GNSS, etc., and generate location information. Then, the route guidance execution unit 2004 can generate route information from the vehicle's current position to the destination, and then guide the driver based on the generated route information. Finally, the control unit 2008 can comprehensively control the operation of the route guidance device to provide route guidance services.

[0256] on the one hand, Figure 21 It is used to embody Figures 14 to 19 A block diagram of a server according to another embodiment of the present invention is illustrated below. Figure 21 As shown, a server according to another embodiment of the present invention includes all or part of a storage unit 2101, an input unit 2102, a communication unit 2103, a route calculation unit 2104, and a control unit 2105. The units constituting the server of this other embodiment of the present invention can perform... Figure 3 , Figure 10The functions of the units with the same names shown are as follows: Specifically, the storage unit 2101 can store various data and programs required for server operation. The input unit 2101 can obtain instructions for performing actions from user input. The communication unit 2103 can provide functions for communicating with other devices such as route guidance devices. The route calculation unit 2104 can generate route information from the vehicle's current location to the destination. Then, the control unit 2105 can comprehensively control the operation of the server to provide route guidance services.

[0257] This can be achieved through a route guidance device and a server. Figure 14 as well as Figure 19 The route guidance method according to another embodiment of the present invention is shown.

[0258] As an example, a route guidance system according to other embodiments of the present invention may not require a server. In this case, when a user inputs a departure point, destination, etc., into the route guidance device, the positioning unit 2007 of the route guidance device may measure the current position of the vehicle, and the route guidance execution unit 2004 may calculate the route from the measured current position to the user-input destination. Then, the route guidance execution unit 2004 may confirm the lane identifier corresponding to the current position. Then, the route guidance execution unit 2004 may confirm the current search link containing the confirmed lane identifier, confirm the future search link that is continuous with the current search link on the driving route, and confirm the direction of travel from the current search link to the future search link. The method for confirming the direction of travel from the current search link to the future search link can be performed using one of the various methods described above. As an example, the route guidance execution unit 2004 may calculate the angle between the coordinates of the end node of the current search link and the coordinates of the end node of the future search link, which are pre-set on the map based on the vehicle's direction of travel, and compare the calculated angle with a pre-set reference angle range. Then, the route guidance execution unit 2004 can confirm the direction of travel for the future search link based on the comparison results. If the direction of travel is confirmed, the route guidance execution unit 2004 can compare the confirmed direction of travel with the direction of travel of the lane the vehicle is currently in, and determine whether a lane change is necessary. If a lane change is not necessary, the direction of travel information of the lane the vehicle is currently in is consistent with the direction of travel of the future search link; therefore, the route guidance execution unit 2004 can instruct the vehicle to maintain its current lane. Conversely, if a lane change is necessary, the route guidance execution unit 2004 can instruct the vehicle to change lanes to a lane with direction of travel information consistent with the direction of travel of the search link.

[0259] On the one hand, according to other embodiments of the present invention, a route guidance system according to other embodiments of the present invention can be implemented using a server. In this case, the route calculation to the destination can be performed by the server and then provided to a route guidance device such as a navigator installed in the vehicle or a terminal providing navigation functions. Specifically, when a user inputs a departure point, destination, etc., into the route guidance device, the server can search for a route from the departure point to the destination. When the server searches for a route, the route calculation unit 2104 can confirm the route from the vehicle's current location to the destination input by the user, confirm the lane identifier corresponding to the current location, confirm the current search link containing the confirmed lane identifier, confirm the future search link that is continuous with the current search link on the driving route, and confirm the direction of travel from the current search link to the future search link. By generating driving route information from the vehicle's current location to the destination through this process, the server can transmit the generated driving route information to the route guidance device, and the route guidance device can use the driving route information received from the server to provide route guidance.

[0260] The present invention has been described above with reference to preferred embodiments. All embodiments disclosed in this specification are intended to enable those skilled in the art to understand the principles and concepts of the invention. It will be understood by those skilled in the art that the invention can be embodied in modified forms without departing from its essential characteristics.

[0261] Furthermore, not only the principles, viewpoints, and embodiments of the present invention, but also all detailed descriptions illustrating specific embodiments should be understood as intended for use with structural and functional equivalents encompassing the matters described. Additionally, the equivalents should be understood to include not only currently known equivalents but also those to be developed in the future, i.e., all elements invented for the same function, regardless of construction.

[0262] Therefore, all flowcharts, state transition diagrams, pseudocode, etc., can be actually displayed on computer-readable media, regardless of whether the computer or processor is explicitly shown, and should be understood as representing multiple processes executed based on a computer or processor.

[0263] The processor or the various elements shown in the figure can function not only as dedicated hardware but also as software-related hardware capable of executing software. These various elements include functional blocks represented conceptually similar to a processor. When provided by a processor, the functionality can be provided by a single dedicated processor, a single shared processor, or multiple individual processors, some of which may be shared.

[0264] Furthermore, when terms such as "first," "second," "third," and "fourth" appear in the specification and claims, they are used to distinguish them from similar constituent elements, but are not essential; they are used to indicate a specific order or sequence of occurrence. It should be understood that the terms used above can be interchanged in appropriate contexts so that embodiments of the invention may operate in a different order than that shown or illustrated. Similarly, when a method is described as comprising a series of steps, the order of the steps disclosed herein is not necessarily the order in which the steps can be performed; any described step may be omitted and / or any other steps not described herein may be added to the method.

[0265] In addition, the suffixes “module” and “section” used in connection with the constituent elements in this specification are merely assigned or used interchangeably for the convenience of writing the specification, and do not have the meaning or function of distinguishing each other.

[0266] Furthermore, the terminology used in this specification is for illustrative purposes and is not intended to limit the invention. In this specification, unless otherwise specified, the singular also includes the plural. The terms "comprise" and / or "comprising" as used in this specification mean that the presence or addition of more than one other constituent element, step, action, and / or element is not excluded from the mentioned constituent elements, steps, actions, and / or components.

[0267] Furthermore, the methods according to various embodiments of the present invention can be embodied in the form of installation data, and thus provided to a server or device in a form stored in various non-transitory computer-readable media. Consequently, each device connects to a server or device storing the installation data, thereby enabling the download of the installation data.

[0268] Non-transitory computer-readable media refers to media that stores data semi-permanently and is readable by a device, rather than media that store data for short periods such as registers, cache memory, and memory. Specifically, the various applications or programs mentioned can be stored on non-transitory readable media such as CDs, DVDs, hard disks, Blu-ray discs, USB drives, memory cards, and ROMs.

[0269] Furthermore, while the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described. Various modifications can be made by those skilled in the art without departing from the spirit of the invention as claimed in the claims, and these modifications should be understood separately from the technical concept or prospects of the present invention.

Claims

1. A route guidance method, characterized in that, include: The steps to obtain the destination from user input; The steps to determine the current location of a vehicle; The steps for calculating the driving route from the current location to the destination; During the route guidance process according to the calculated driving route, if there is an intersection within a predetermined distance on the driving route, then the step of confirming the ranking of the search links located on the calculated driving route among the search links entering and exiting from the end node present at the intersection. The step of comparing the steering information of the search link corresponding to the ranking of the confirmed search link with the travel direction information of the lane in which the vehicle is located; as well as The step of providing lane change guidance to the vehicle based on the comparison result of the steering information and the direction of travel information. The ranking of the search link is confirmed by: The steps to confirm the lane identifier of the lane in which the vehicle is located; The steps to confirm the search identifier that includes the confirmed lane link identifier; The step of confirming the number of search links entering and exiting from the end node of the search link corresponding to the confirmed search link identifier; For search links entering and exiting from the end node, the search is performed sequentially in a clockwise or counterclockwise direction, based on the end node or the search link corresponding to the vehicle's current position; and The ranking of the search links entering and exiting from the end node is determined based on the search order, and the ranking of the search links located on the calculated travel route is confirmed. The comparison between the steering information and the direction of travel information includes: The step of confirming the turning information corresponding to the sequence of search links that are consistent with the search links located on the driving route; and The step of comparing the confirmed steering information with the travel direction information corresponding to the lane in which the vehicle is located to see if they are consistent. The data structure of the search link includes steering information that displays the traversable directions of the search link, and the steering information is defined in an order corresponding to the positional order of the search link entering and exiting from the end node.

2. The route guidance method according to claim 1, characterized in that, The steps for providing lane change guidance to the vehicle include: If the comparison result shows that the steering information of the search link corresponding to the confirmed search link's ranking is inconsistent with the travel direction information of the lane where the vehicle is located, then... The step of determining a driving lane with travel direction information consistent with the steering information of the search link, wherein the steering information of the search link corresponds to the ranking of the confirmed search link; and Steps to provide guidance on changing lanes to the determined driving lane.

3. The route guidance method according to claim 1, characterized in that, The destination and the current location of the vehicle are received through the user terminal.

4. The route guidance method according to claim 1, characterized in that, The step of providing lane change guidance to the vehicle based on the comparison result of the steering information and the direction of travel information includes: The steps of transmitting a guidance message to the vehicle's control unit to enable the vehicle to change lanes; and The vehicle's control unit performs actions related to the lane change based on the guidance message.

5. The route guidance method according to claim 1, characterized in that, The comparison step includes: The step of confirming the turning information corresponding to the sequence of search links in the search chain that is consistent with the search link located on the driving route; and The step of confirming whether the confirmed steering information includes travel direction information corresponding to the lane in which the vehicle is located.

6. The route guidance method according to claim 5, characterized in that, The steps for providing lane change guidance to the vehicle include: If the confirmation result does not include the travel direction information of the lane in which the vehicle is located in the steering information of the search link corresponding to the ranking of the confirmed search link, then... The step of determining a driving lane with travel direction information consistent with the steering information of the search link, wherein the steering information of the search link corresponds to the ranking of the confirmed search link; and Steps to provide guidance on changing lanes to the determined driving lane.

7. A route guidance device, which is used for guiding routes, characterized in that, include: Route calculation department; The communications department communicates with user terminals installed in the vehicle; The control unit obtains the vehicle's destination information and location information through the communication unit, controls the route calculation unit to calculate the driving route from the current location to the destination, and transmits the calculated driving route to the user terminal through the communication unit. The route calculation unit, while providing route guidance according to the calculated driving route, if an intersection exists within a predetermined distance along the driving route, then among the search links entering and exiting from the end node at the intersection, it confirms the ranking of the search links located on the calculated driving route. It compares the turning information of the search link corresponding to the confirmed ranking with the travel direction information of the lane the vehicle is in, and based on the comparison result, provides lane change guidance to the vehicle. The route calculation unit is configured as follows: Confirm the lane identifier of the lane in which the vehicle is located; Confirm the search identifier that includes the confirmed lane link identifier; Confirm the number of search links entering and exiting from the end node of the search link corresponding to the confirmed search link identifier; For search links that enter or exit from the end node, the search is performed sequentially in a clockwise or counterclockwise direction, based on the end node or the search link corresponding to the current position of the vehicle. as well as The ranking of the search links entering and exiting from the end node is determined based on the search order, and the ranking of the search links located on the calculated travel route is confirmed. The route calculation unit is further configured to: Confirm the turning information in the search links that corresponds to the search links located on the driving route and is consistent with the order of the search links; as well as Compare whether the confirmed steering information is consistent with the travel direction information corresponding to the lane in which the vehicle is located. The data structure of the search link includes steering information that displays the traversable directions of the search link, and the steering information is defined in an order corresponding to the positional order of the search link entering and exiting from the end node.

8. The route guidance device according to claim 7, characterized in that, If the comparison result shows that the steering information of the search link corresponding to the confirmed search link's ranking is inconsistent with the travel direction information of the lane where the vehicle is located, then... The route calculation unit, The system determines a driving lane with travel direction information consistent with the steering information of the search link, and provides guidance for lane changing to the determined driving lane, wherein the steering information of the search link corresponds to the ranking of the confirmed search link.

9. The route guidance device according to claim 7, characterized in that, The route calculation unit transmits a guidance message to the vehicle's control unit to enable the vehicle to change lanes. The vehicle's control unit performs actions related to the lane change based on the guidance message.

10. The route guidance device according to claim 7, characterized in that, Further includes: The storage unit stores map information to guide the vehicle's route, stores information on search links and lane links existing on the map, and stores steering information corresponding to the search links and travel direction information corresponding to the lane links.

11. A route guidance device, which is a device for guiding routes, characterized in that, include: The communications department is used to communicate with the server. Position measuring unit, used to measure the position of a vehicle; The route guidance execution unit is used to execute route guidance. as well as The control unit controls the transmission of the vehicle's location and the destination information input by the user to the server via the communication unit, and controls the route guidance execution unit to provide route guidance according to the route guidance information received from the server up to the destination. The route guidance information includes the following: If an intersection exists within a predetermined distance on the driving route, then among the search links entering and exiting from the end node at the intersection, the ranking of the search link located on the calculated driving route is confirmed. The turning information of the search link corresponding to the confirmed ranking of the search link is compared with the travel direction information of the lane where the vehicle is located. Based on the comparison result of the turning information and the travel direction information, lane change guidance is provided to the vehicle. The ranking of the search link is confirmed by: Confirm the lane identifier of the lane in which the vehicle is located; Confirm the search identifier that includes the confirmed lane link identifier; Confirm the number of search links entering and exiting from the end node of the search link corresponding to the confirmed search link identifier; For search links entering and exiting from the end node, the search is performed sequentially in a clockwise or counterclockwise direction, based on the end node or the search link corresponding to the vehicle's current position; and The ranking of the search links entering and exiting from the end node is determined based on the search order, and the ranking of the search links located on the calculated travel route is confirmed. The comparison of the steering information and the travel direction information includes: confirming steering information that corresponds to the order of the search links in the search chain and is consistent with the search links located on the travel route; and Compare whether the confirmed steering information is consistent with the travel direction information corresponding to the lane in which the vehicle is located. The data structure of the search link includes steering information that displays the traversable directions of the search link, and the steering information is defined in an order corresponding to the positional order of the search link entering and exiting from the end node.

12. The route guidance device according to claim 11, characterized in that, Further includes: The interface unit transmits the route guidance information to the vehicle's control unit. The vehicle's control unit controls the vehicle to travel according to the route guidance information.

13. A computer-readable recording medium having a program recorded thereon for performing the route guidance method according to any one of claims 1 to 6.

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