PDF문서10. Method of determining road lane.pdf

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10

Korea Aerospace Research Institute  Promising Technologies for Commercialization

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 

Method of 
determining 
road lane

This technology uses carrier-based differential GPS 
information having accuracy of recognizing a road 
lane and a precise electronic map in which road 
lanes can be identified.  Also, a steering model of a 
vehicle is used to further exactly determine a road 
lane on which a current vehicle is being driven.

Inventor

Senior Researcher Woo yong KANG

Team

Satellite Navigation Team

Status of right

• US : 9562777

Title

• AUTONOMOUS VEHICLE ASSISTANCE DEVICE

Communicator

Stop Detector

Vision Detector

Vehicle Position 

Determiner

Acquiring position 
information through 
satellite navigation 
information

Acquiring lane position 
information

Obtain position error 
vector

Correcting position 
information and 
inputting current 
position


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Lab-scale basic performance verification

Technical Readiness Level

TRL 1

TRL 2

TRL 5

TRL 6

TRL 7

TRL 8

TRL 9

TRL 4

Technical features and advantages

Technical detail

TRL 3

Distinctiveness
• Vector error information in a heading direction of a vehicle on a lane and that in a direction 

perpendicular to the heading direction of the vehicle are received to be used for correction of a 

position. 

• Position information of the vehicle being currently driven is analyzed to determine a current 

position, and position error information is reflected.

Technical effects
• Due to an external environment such as a satellite state or weather, an error may be present in 

vehicle position information based on the satellite navigation information. It is possible to further 

precisely verify a current position of the vehicle by correcting position information being received 
at the vehicle based on position error information measured at the fixed body.

•  This technology has great significance in view that in the field to which this technology pertains, 

limitations of vehicle position recognition using a general GPS satellite navigation code are 

overcome, and further enhanced position precision can be accomplished.

Calculating further 

reliable current 

position

Expecting position 

precision of an 

autonomously 

driven vehicle  to be 

enhanced

Capable of 

correcting errors 

resulting from 

various weather 

environment and 

road state

Immediately 

correcting position 

information being 

received at the 

vehicle


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Technical detail

Method of 

determining

road lane

Process of generating/transmitting

position error vector and interaction

Flowchart illustrating flow of autonomous

vehicle assistance method

START

END

ACQUIRE POSITION INGORMATION VASED ON SATELLITE 

NAVICATION INFORMATION

CORRECT POSITION INFORMATION AND INPUT CURRENT 

POSITION OF VEHICLE

ACQUIRE LANE

POSITION INFORMATION

ACQUIRE POSITION

ERROR VECTOR

NO

510

520

530

540

550

YES

IS VEHICLE

BEING DRIVEN?


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Applications

Market and future prospect

Estimated trends in sales of global autonomous vehicle

Vehicle-to-vehicle (V2V) : Multi-home communication technology

■    Warning such as emergency brake, front collision warning, supporting 

intersection safety, and blind spot and lane change warning

■    Warning for passing, and warning for out of control

Vehicle-to-vehicle (V2V) : Multi-home communication technology

■  Warning such as emergency brake, front collision warning, supporting 

intersection safety, and blind spot and lane change warning

■  Warning for passing, and warning for out of control

• From a long-term point of view, the connected 

car market is in an intermediate step between 

development of driverless driving and current 

vehicle industries. Also, the connected car market 

that exhibited 7 millions of cars in size globally as 

of 2014 is expected to reach 69 million cars in 2020 

and to rapidly grow.

• Most of the connected cars in North America are 

purchased in the U.S., and about 20 million cars (95%) 

out of new 21 million cars to be produced in 2020 are 

expected to be mounted with the automatic Internet 

connection option.

(Millions)

2017

22

81

2020

69

92

2016

15

78

2019

47

88

2015

10

75

32

84

2018

Average annual growth rate of 45%