mecㆍviewer v1.4 :: 01. Method of determining driving lane.pdf

Method of
determining
driving lane

Inventor

Senior Researcher Wooyong KANG
(Department of Satellite Navigation)

Registration (Filing) No.

• US : 8204685

• US : 8401787

Title

• NAVIGATION DEVICE AND ROAD LANE

RECOGNITION METHOD THEREOF

• METHOD OF DETERMINING DRIVE LANE
USING STEERING WHEEL MODEL

Korea Aerospace Research Institute Promising Technologies for Commercialization

Using a vehicle dynamics model, a heading

changing rate of a vehicle and a location

changing rate are compared to match them to a

driving lane of an actual vehicle.

Outline of Technology

TLO of the KARI

Person-in-charge

Senior Administrator Moon-Hee, Cho

E-mail : moonyxp@kari.re.kr
R&D Performance Diffusion Division

production of confirmed parts/system and prototype

Technical Readiness Level

TRL 1

TRL 2

TRL 3

TRL 5

TRL 6

TRL 7

TRL 8

TRL 9

TRL 4

Distinctiveness
• A driving lane is determined by determining whether a location is appropriate based on a

comparison of steering angle information and a GPS azimuth of a vehicle. An accuracy of

tolerance is 30 cm or less, which is very precise.

• In detecting an abnormality of a satellite navigation, a driving lane is determined by estimating

an azimuth of a vehicle and then using the relationship between the estimated azimuth and the

driving lane, which leads to high safety.

Technical effects
• A driving lane is distinguished by reflecting features of a driving lane, and safety and accuracy are

improved.

Technical features and advantages

Problem of competitive technique

Solution

■ A satellite navigation system in the field of land

traffic is utilized to collect location information
for individual driving lanes, levy driving taxes
depending on driving distance, monitor driving
lane compliance of a hazardous article transport
car, and charge differential fees for each driving
lane, however it is not distinguished by a lane on
which a vehicle drives.

■ Currently, a technique of maintaining a lane

through recognition of driving lanes has been
developed.

■ A location on a road on which a vehicle is cur-

rently driving is analyzed using differential GPS
information based on carrier waves and a precise
digital map in which each lane is distinguished,
rather than a typical digital map, and then a driv

ing lane is determined.

Method of
determining
driving lane

Technical features and

advantages

Problem of

competitive technique

Solution

■ In the United States, research on

determining a driving lane using
a digital map capable of distin

guishing location information
and lanes has been conducted,
however it does not distinguish a
driving lane by reflecting features
of the lane, but only determines
a driving lane based on location
information and a trajectory of a
vehicle.

■ Therefore, a driver needs to rec-

ognize and determine circum

stances around a vehicle and a
lane in which he/she is currently

driving by himself/herself in
order to change a driving lane,
which leads to lack of safety.

■ Provided is a method of deter-

mining a driving lane for largely
improving driving lane recogni

tion performance which is cor

rectable when there is an abnor

mality found after an abnormality
check based on GPS information
using information related to a
steering direction of a vehicle in
determination of a driving lane.

Method of determining drive lane using steering wheel model

• According to a method of determining a driving lane using a steering model, when abrupt

tolerance occurs and a driving lane is inappropriately recognized in matching o f lanes for

distinguishing lanes, a heading changing rate and a location changing rate of a vehicle are

compared using a vehicle dynamics model, and therefore a driving lane of an actual vehicle is

matched.

Technical detail

a step of preparing a precise

digital map

S100

S200

S300

S500

S400

YES

a step of calculating a vehicle

location

a compensating step

a step of checking whether vehicle

location information is normal

a step of determining and utputting

a drive lane of a running vehicle

Abnormal?

Is there another

road lane?

Calculation of
vehicle location

Calculation of differential GPS information based on carrier
waves, which is a differential global navigation satellite system
(DGNSS)

Preparation of
precise digital map

Preparation of a precise digital map with precision capable
of distinguishing lanes

Detection of the
presence of
abnormality of
vehicle location

Determination of whether vehicle location information is
abnormal using a difference between a heading changing rate
(GPS) and an azimuth changing rate (using a steering model)

Determination and
output of a driving
lane

Determination of a driving lane through correction and output
of the result to a terminal

Method of
determining
driving lane

NAVIGATION DEVICE AND ROAD LANE

RECOGNITION METHOD THEREOF

Technical detail

• Technique for distinguishing a driving lane using correction

information of GPS and driving lane information embedded

in a digital map

• Signaling time can be flexibly controlled by traffic for each

driving lane

• When using precise location information based on

division of driving lanes, information related to driving

circumstances and a signal system of each lane can be

provided.

Range of
distinguishing
driving lane

Calculation
of location

Calculation
of lateral
istance

Division of
driving lane

A driving direction is determined using
location and lane information.

A vehicle location is calculated using
a satellite signal including carrier
waves and correction information.

A lateral distance between a vehicle
location and a central line of each lane in
a driving direction is calculated.

A lane with a minimum lateral
distance is classified as a driving lane of
a vehicle.

Market and future prospects

Applications

• F u r t h e r, a s u p p l y i n g s i z e o f

autonomous driving vehicles is

expected to grow 95.4 million in

2035 from 8000 in 2020, which is

an average annual growth rate of

85%. The circumstances of complete

autonomous driving will be adapted

all over the world.

• The technique can be utilized in various fields such as by developers of navigation devices,

navigation manufacturers, vehicle manufacturers, etc.

• Applicable in the fields of traffic control systems, road maintenance, next generation navigation

systems, self-driving vehicles, etc.

• A market of autonomous driving

vehicles is expected to show an

average annual growth rate of 25.7%

from 2016 to 2024, and reach 20

billion dollars by 2024.

2024

2015

2016

2017

2018

2019

CAGR 25.7% ( 2016 - 2024 )

2020

Global Self-Driving Car Market Size and Forecast,

2015 - 2024 (USS Billion)

Source: Variant Market Research

2021

2022

2023