26
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
01
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
27
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.
28
Method of
determining
driving lane
01
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.
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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
YES
NO
NO
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
30
Method of
determining
driving lane
01
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.
31
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
20
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