Patent Publication Number: US-2023160711-A1

Title: Vehicle and Method of Controlling the Same

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit of Korean Patent Application No. 10-2021-0160548, filed on Nov. 19, 2021, which application is hereby incorporated herein by reference. 
     TECHNICAL FIELD 
     The disclosure relates to a vehicle for guiding a route to a destination and a method of controlling the same. 
     BACKGROUND 
     In general, a vehicle uses a global positioning system (GPS) signal to inform an exact distance and a required time from a current position to a destination, and guide a route to the destination. 
     However, due to the characteristics of the GPS signal, errors may occur in determining the position of the vehicle, and the route guidance may be terminated before reaching the destination. 
     In addition, when an augmented reality (AR) image is used for route guidance, such an error with the position determination of the vehicle may prevent the AR image from being mapped to the correct position, which may cause inconvenience to the user. 
     SUMMARY 
     Embodiment provide a vehicle and a method of controlling the same that are capable of, when entering a predetermined range of a destination, determining a predicted position of the vehicle using point cloud map information, comparing the predicted position with a predicted position of the vehicle indicated by a global positioning system (GPS) signal to determine a more accurate position of the vehicle, thereby, e.g., more accurately guiding a route to the destination in the last mile. 
     According to an embodiment a vehicle includes a communication module; a display module; an image sensor configured to acquire a front image of the vehicle; and a controller configured to, when it is determined that the vehicle enters a predetermined range of a destination based on a global positioning system (GPS) signal received through the communication module, compare a feature point of the front image of the vehicle with point cloud map information to determine a first predicted position of the vehicle, and based on a difference between the first predicted position and a second predicted position of the vehicle indicated by the GPS signal, determine one of the first predicted position and the second predicted position as a position of the vehicle, and control the display module to display an augmented reality (AR) image for performing a route guidance to the destination based on the determined position of the vehicle. 
     The controller may be configured to, in response to determining that the vehicle enters the predetermined range of the destination, compare a speed of the vehicle with a predetermined speed, and determine the first predicted position when the speed of the vehicle is less than or equal to the predetermined speed. 
     The controller may be configured to, in response to determining that the vehicle enters the predetermined range of the destination, control the communication module to transmit the front image of the vehicle to an external server, and determine a position indicated by position information received from the external server through the communication module as the first predicted position. 
     The controller may be configured to, when a distance between the first predicted position and the second predicted position is less than a predetermined error distance, determine the second predicted position as the position of the vehicle. 
     The controller may be configured to, when a distance between the first predicted position and the second predicted position is greater than or equal to a predetermined error distance, determine the first predicted position as the position of the vehicle. 
     In the determining of the first predicted position as the position of the vehicle, the controller may be configured to determine, as the position of the vehicle, the first predicted position determined for a predetermined time in real time. 
     The controller may be configured to control the display module to display a turn by turn (TBT) preview image, which guides a moving direction on at least one junction adjacent to the determined position of the vehicle among a plurality of junctions located between the determined position of the vehicle and the destination, to be overlaid on the front image of the vehicle. 
     The controller may be configured to, when it is determined that, based on the determined position of the vehicle, the vehicle has entered a predetermined range of a junction located on a route to the destination, control the display module to display a first AR image in a shape of an arrow pointing to a moving direction at the junction to be overlaid on the front image of the vehicle. 
     The controller may be configured to control the display module to display a second AR image in a shape of a carpet covering a ground surface of a travel lane at the determined position of the vehicle to be overlaid on the front image of the vehicle, and adjust at least one of a color or a transparency of the second AR image based on a speed of the vehicle. 
     The controller may be configured to, when changing lanes of the vehicle, determine the second AR image in a shape that connects a ground surface of a travel lane before the lane change and a ground surface of a travel lane after the lane change. 
     According to an embodiment a method for controlling a vehicle includes a communication module, a display module, and an image sensor for acquiring a front image of the vehicle, the method including: when it is determined that the vehicle enters a predetermined range of a destination based on a global positioning system (GPS) signal received through the communication module, comparing a feature point of the front image of the vehicle with point cloud map information to determine a first predicted position of the vehicle; based on a difference between the first predicted position and a second predicted position of the vehicle indicated by the GPS signal, determining one of the first predicted position and the second predicted position as a position of the vehicle; and controlling the display module to display an augmented reality (AR) image for performing a route guidance to the destination based on the determined position of the vehicle. 
     The determining of the first predicted position may include, in response to determining that the vehicle enters the predetermined range of the destination, comparing a speed of the vehicle with a predetermined speed, and determining the first predicted position when the speed of the vehicle is less than or equal to the predetermined speed. 
     The determining of the first predicted position may include: in response to determining that the vehicle enters the predetermined range of the destination, controlling the communication module to transmit the front image of the vehicle to an external server; and determining a position indicated by position information received from the external server through the communication module as the first predicted position. 
     The determining of one of the first predicted position and the second predicted position as the position of the vehicle may include, when a distance between the first predicted position and the second predicted position is less than a predetermined error distance, determining the second predicted position as the position of the vehicle. 
     The determining of one of the first predicted position and the second predicted position as the position of the vehicle may include, when a distance between the first predicted position and the second predicted position is greater than or equal to a predetermined error distance, determining the first predicted position as the position of the vehicle. 
     The method may further include, in the determining of the first predicted position as the position of the vehicle, determining, as the position of the vehicle, the first predicted position determined for a predetermined time in real time. 
     The method may further include controlling the display module to display a turn by turn (TBT) preview image, which guides a moving direction on at least one junction adjacent to the determined position of the vehicle among a plurality of junctions located between the determined position of the vehicle and the destination, to be overlaid on the front image of the vehicle. 
     The controlling of the display module to display the AR image may include, when it is determined that, based on the determined position of the vehicle, the vehicle has entered a predetermined range of a junction located on a route to the destination, controlling the display module to display a first AR image in a shape of an arrow pointing to a moving direction at the junction to be overlaid on the front image of the vehicle. 
     The controlling of the display module to display the AR image includes controlling the display module to display a second AR image in a shape of a carpet covering a ground surface of a travel lane at the determined position of the vehicle to be overlaid on the front image of the vehicle, and adjusting at least one of a color or a transparency of the second AR image based on a speed of the vehicle. 
     The controlling of the display module to display the AR image may include, when changing lanes of the vehicle, determining the second AR image in a shape that connects a ground surface of a travel lane before the lane change and a ground surface of a travel lane after the lane change. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These and/or other aspects of the disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which: 
         FIG.  1    is a control block diagram illustrating a vehicle according to an embodiment; 
         FIG.  2    illustrates a case in which point cloud map information is provided when a vehicle enters a predetermined range of a destination according to an embodiment; 
         FIGS.  3  and  4    illustrate a case in which a predicted position based on point cloud map information and a predicted position indicated by a global positioning system (GPS) signal are compared with each other by a vehicle according to an embodiment; 
         FIG.  5    illustrates a case in which a vehicle displays a turn by turn (TBT) preview image according to an embodiment; 
         FIG.  6    illustrates a case in which a vehicle according to an embodiment displays a first augmented reality (AR) image in the form of an arrow at a junction; 
         FIGS.  7  and  8    illustrate a case in which a vehicle according to an embodiment displays a second AR image in the form of a carpet covering the ground of a travel lane; and 
         FIG.  9    is a flowchart showing a case in which route guidance is performed using one of a point cloud and a GPS signal in the last mile in a method of controlling a vehicle according to an embodiment. 
     
    
    
     DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS 
     Like numerals refer to like elements throughout the specification. Not all elements of embodiments of the present disclosure will be described, and description of what are commonly known in the art or what overlap each other in the embodiments will be omitted. 
     It will be further understood that the term “connect” or its derivatives refer both to direct and indirect connection, and the indirect connection includes a connection over a wireless communication network. 
     It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, 
     As used herein, the singular forms “a,” “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. 
     The terms, such as “˜part”, “˜device”, “˜block”, “˜member”, “˜ module”, and the like may refer to a unit for processing at least one function or act. For example, the terms may refer to at least process processed by at least one hardware, such as field-programmable gate array (FPGA)/application specific integrated circuit (ASIC), software stored in memories, or processors. 
     Reference numerals used for method steps are just used for convenience of explanation, but not to limit an order of the steps. Thus, unless the context clearly dictates otherwise, the written order may be practiced otherwise. 
     Hereinafter, an embodiment of a vehicle and a method of controlling the same according to an aspect will be described in detail with reference to the accompanying drawings. 
       FIG.  1    is a control block diagram illustrating a vehicle according to an embodiment. 
     Referring to  FIG.  1   , a vehicle  100  according to an embodiment may an image sensor no for acquiring a front image of the vehicle  100 , an input module  120  for receiving an input from a user, a communication module  130  for communicating with an external device, a controller  140  for controlling a route guidance function, a display module  150  for displaying a front image and an augmented reality (AR) image for route guidance, and a storage  160  for storing various types of information for the route guidance function. 
     The image sensor no according to the embodiment may be provided as an image sensor generally known in the art, and acquire a front image of the vehicle  100 . 
     The input module  120  according to the embodiment may receive an input from a user, for example, may receive a destination from the user as an input. The input module  120  may be provided as an input device generally known in the art, and according to an embodiment, may be a touch panel integrally formed with the display module iso. 
     The communication module  130  according to the embodiment may be provided as a communication module generally known in the art capable of performing communication with an external device. For example, the communication module  130  may receive a global positioning system (GPS) signal from a satellite, and may perform wireless communication with an external server. 
     The controller  140  according to the embodiment may guide a route to a destination input from the user, based on a GPS signal received through the communication module  130 . 
     Specifically, the controller  140  may determine the position of the vehicle  100  based on the GPS signal, and determine a route from the position of the vehicle  100  to the destination based on map information stored in the storage  160  or map information received from the external server. In this case, the route to the destination may be determined according to a method generally known in the art. For example, the route to the destination may be determined based on a shortest distance, a shortest time, a user&#39;s usage history, or another user&#39;s a usage history. 
     In addition, the controller  140  may display an AR image guiding a route to the determined destination to be overlaid on the front image. 
     Specifically, the controller  140  may control the display module  150  to display a turn by turn (TBT) preview image, which guides a moving direction on at least one junction adjacent to the position of the vehicle  100  among a plurality of junctions located between the position of the vehicle  100  and the destination, to be overlaid on the front image. 
     In addition, the controller  140  may, when it is determined, based on the position, that the vehicle  100  has entered an area within a predetermined range of a junction located on a route to the destination, control the display module  150  to display a first AR image in the shape of an arrow pointing in a moving direction at the junction to be overlaid on the front image. 
     In addition, the controller  140  may control the display module  150  to display a second AR image in the shape of a carpet covering the ground surface of a travel lane at the position of the vehicle  100  to be overlaid on the front image. In this case, the controller  140  may adjust at least one of a color or a transparency of the second AR image based on the speed of the vehicle  100 . In addition, according to an embodiment, the controller  140  may be configured to, in changing lanes of the vehicle  100 , determine the second AR image in a shape that connects the ground surface of a travel lane before the lane change and the ground surface of a travel lane after the lane change. 
     The controller  140  according to the embodiment may, when it is determined that the vehicle enters a predetermined range of a destination based on a GPS signal, compare a feature point of the front image with point cloud map information to determine a first predicted position of the vehicle  100 . In this case, the feature point may refer to a point capable of specifying the shape of an object, such as an edge of an object. 
     In addition, the controller  140  may determine one of the first predicted position and a second predicted position of the vehicle  100  indicated by the GPS signal as the position of the vehicle based on a difference between the first predicted position and the second predicted position, and control the display module  150  to display an AR image for performing a route guidance to the destination based on the determined position. 
     The controller  140 , according to an embodiment may, in response to determining that the vehicle  100  enters a predetermined range of a destination, compare the speed of the vehicle  100  with a predetermined speed, and determine the first predicted position when the speed of the vehicle is less than or equal to the predetermined speed. 
     In addition, the controller, according to an embodiment, may, in response to determining that the vehicle  100  enters a predetermined range of a destination, control the communication module  130  to transmit the front image to the external server, and determine a position indicated by position information received from the external server through the communication module  130  as the first predicted position. 
     The controller  140  may, when the distance between the first predicted position and the second predicted position is less than a predetermined error distance, determine the second predicted position as the position of the vehicle  100 . 
     In addition, the controller  140  may, when the distance between the first predicted position and the second predicted position is greater than or equal the predetermined error distance, determine the first predicted position as the position of the vehicle  100 . 
     The controller  140  according to the embodiment may, when the vehicle  100  is located within a predetermined range from a destination, determine and compare the first predicted position and the second predicted position in real time, to determine the position of the vehicle  100 . 
     In addition, the controller  140 , according to an embodiment may, in the determining of the first predicted position as the position of the vehicle  100 , determine, as the position of the vehicle  100 , the first predicted position determined for a predetermined time in real time. 
     The controller  140  may include at least one memory in which a program for performing the above-described operations and operations to be described below is stored, and at least one processor for executing the stored program. When the memory and the processor are plural, the memories and the processors may be integrated into one chip or may be provided in physically separate positions. 
     The display module  150  according to the embodiment may display a front image under the control of the controller  140 , and may display an AR image for route guide to be overlaid on the front image. To this end, the display module  150  may be provided as a display panel generally known in the art. 
     The storage  160  according to the embodiment may store various types of information required for route guidance. For example, the storage  160  may include map information for route guidance, and in particular, may include point cloud map information. 
     The point cloud map information may correspond to map information including a point cloud representing the shape of a road and a point cloud representing the shape of an object around a road (e.g., buildings, traffic lights, trees, signs, etc.). In this case, the point cloud may be generated by extracting feature points from sensing data obtained through a scanning device (e.g., a 360-degree image sensor, etc.) and forming a set of extracted feature points. 
     In the above, each configuration of the vehicle  100  has been described. Hereinafter, an example of the vehicle  100  performing a route guidance in the last mile will be described in detail. 
       FIG.  2    illustrates a case in which point cloud map information is used when a vehicle  100  enters a predetermined range of a destination according to an embodiment. 
     Referring to  FIG.  2   , the vehicle  100  according to the embodiment may guide a route to a destination  200  input from a user based on a GPS signal received through the communication module  130 . 
     In this case, the vehicle  100  may determine that the vehicle  100  enters a predetermined range d 1  of the destination  200  based on the GPS signal. Specifically, the vehicle  10  may determine that the vehicle  100  enters the predetermined range d 1  on the destination  200  when the position of the vehicle  100  indicated by the GPS signal is within the predetermined range d 1  of the destination  200 . 
     In this case, the vehicle  100  may compare feature points of the front image  115  with point cloud map information  165  to determine a predicted position of the vehicle  100 . 
     The point cloud map information may correspond to map information including a point cloud representing the shape of a road and a point cloud representing the shape of an object around a road (e.g., buildings, traffic lights, trees, signs, etc.). In this case, the point cloud may be generated by extracting feature points from sensing data obtained through a scanning device (e.g., a 360-degree image sensor, etc.) and forming a set of extracted feature points. 
     The vehicle  100  may compare feature points of the front image  115  with feature points of the point cloud map information  165 , and determine the position indicated by feature points, among the feature points of the point cloud map information  165 , which coincide with the feature points of the front image  115  as a predicted position of the vehicle  100 . 
       FIGS.  3  and  4    illustrate a case in which a predicted position based on point cloud map information  165  and a predicted position indicated by a GPS signal are compared by the vehicle  100  according to the embodiment. 
     Referring to  FIGS.  3  and  4   , the vehicle  100  according to the embodiment may compare the feature points of the front image  115  with the point cloud map information  165  to determine a first predicted position  310  of the vehicle  100 . 
     In this case, the vehicle  100 , according to an embodiment, may compare the feature points of the front image  115  with point cloud map information  165  only when the speed of the vehicle  100  is less than or equal to a predetermined speed (e.g., 30 km/h) to determine the first predicted position  310  of the vehicle  100 . The front image  115  obtained at a high speed of the vehicle  100  may be inaccurate, and when feature points of the inaccurate front image  115 , are compared with the point cloud map information  165 , an inaccurate position may be predicted as the position of the vehicle  100 . That is, the vehicle  100  may determine the first predicted position  310  only when the speed of the vehicle  100  is less than or equal to the predetermined speed, thereby increasing the accuracy of determining the first predicted position  310 . 
     In addition, the vehicle  100  may determine a position indicated by the GPS signal as a second predicted position  320  of the vehicle  100 . 
     The vehicle  100  may determine one of the first predicted position  310  and the second predicted position  320  indicated by the GPS signal as the position of the vehicle  100  based on the difference between the first predicted position  310  and the second predicted position  320  of the vehicle  100 , and control the display module  150  to display an AR image for guiding a route to the destination  200  based on the determined position. 
     For example, as shown in  FIG.  3   , the vehicle  100  may, when a distance d 3  between the first predicted position  310  and the second predicted position  320  is greater than or equal to a predetermined error distance d 2 , determine the first predicted position  310  as the position of the vehicle  100 , and control the display module  150  to display an AR image for guiding a route to the destination  200  based on the first predicted position  310 . 
     That is, the vehicle  100  may, when a difference between the first predicted position  310  obtained based on the point cloud map information  165  and the second predicted position  320  obtained based on the GPS signal is great, determine that the GPS signal is inaccurate, and perform a route guidance based on the first predicted position  310 . 
     As described above, GPS signals may be slightly inaccurate, and with the GPS signals, route guidance of the vehicle  100  may be smoothly performed when the position of the vehicle  100  is distant from the destination, but when the position of the vehicle  100  is adjacent to the destination, it may be determined that the vehicle  100  has arrived at the destination, and the route guidance may be terminated. 
     Accordingly, the vehicle  100  according to the disclosure may be configured to, upon entering a predetermined range d 1  (e.g., 2 km) of the destination  200 , compare the first predicted position  310  obtained based on the point cloud map information  165  with the second predicted position  320  obtained based on the GPS signal to determine the accuracy of the GPS signal, and when the GPS signal is determined to be inaccurate, determine the first predicted position  310  based on more accurate point cloud map information as the current position of the vehicle  100 , and perform a route guidance. 
     In addition, referring to  FIG.  4   , the vehicle  100  may be configured to, when the distance d 3  between the first predicted position  310  and the second predicted position  320  is less than the predetermined error distance d 2 , determine the second predicted position  320  as the position of the vehicle  100 , and control the display module  150  to display an AR image for guiding a route to the destination  200  based on the second predicted position  320 . 
     That is, the vehicle  100  may, when the distance d 3  between the first predicted position  310  and the second predicted position  320  is less than the predetermined error distance d 2 , determine that the GPS signal is accurate, and may provide a route guidance based on the second predicted position  320  obtained based on the GPS signal. 
     In this case, the vehicle  100  may be configured to, in response to the vehicle  100  being located within the predetermined range of the destination, determine and compare the first predicted position  310  and the second predicted position  320  in real time to determine the position of the vehicle  100 . 
     In addition, in the determining of the first predicted position  310  as the position of the vehicle  100 , the vehicle  100 , according to an embodiment, may determine, as the position of the vehicle  100 , the first predicted position  310  determined for a predetermined time in real time. That is, the vehicle  100  may compare the first predicted position  310  with the second predicted position  320  and, when the GPS signal is determined to be inaccurate, determine the first predicted position  310  obtained based on the point cloud map information  165  for a predetermined time as the position of the vehicle  100  and perform a route guidance, thereby minimizing interference from inaccurate GPS signals. 
     The above description has been made in relation that the vehicle  100  compares the front image  115  with the point cloud map information  165  to determine the first predicted position  310 . However, according to embodiments, the vehicle  100  may receive information about the first predicted position  310  from an external server. Specifically, the vehicle  100  may, in response to determining that the vehicle  100  enters a predetermined range of the destination, control the communication module  130  to transmit a front image to the external server and determine a position indicated by position information received from the external server through the communication module  130  as the first predicted position  310 . In this case, the external server may compare feature points of the front image received from the vehicle  100  with the stored point cloud map information to determine position information including a predicted position of the vehicle  100 , and transmits the position information to the vehicle  100 . In this case, the vehicle  100  may not store the point cloud map information  165 . 
     In the above, an example in which the vehicle  100  determines one of the first predicted position  310  obtained based on the point cloud map information  165  and the second predicted position  320  obtained based on the GPS signal as the position of the vehicle  100  has been described in detail. Hereinafter, an example of displaying an AR image for guiding the route to the destination based on the determined position of the vehicle  100  will be described in detail. 
       FIG.  5    illustrates a case in which a vehicle displays a turn by turn (TBT) preview image according to an embodiment. 
     Referring to  FIG.  5   , the vehicle  100  according to the embodiment may control the display module  150  to display a turn by turn (TBT) preview image  500 , which guides a moving direction on at least one junction adjacent to the position of the vehicle  100  among a plurality of junctions located between the position of the vehicle  100  and the destination  200 , to be overlaid on a front image. 
     The vehicle  100 , according to an embodiment, may control the display module  150  such that a moving direction guide icon corresponding to a junction located at a shorter distance to the position of the vehicle  100  is arranged further left in the TBT preview image  500 . 
     For example, referring to  FIG.  5   , the TBT preview image  500  may include moving direction guide icons  501 ,  502 , and  503  for three junctions close to the position of the vehicle  100 , and, the moving direction guide icon  501  arranged on the leftmost may guide the moving direction at a junction having the shortest distance from the position of the vehicle  100  among the three junctions, and the moving direction guide icon  502  arranged on the middle may guide the moving direction at a junction having a farther distance from the vehicle  100  than the junction corresponding to the moving direction guide icon  501  arranged on the leftmost, and the moving direction guide icon  503  arranged on the rightmost may guide the moving direction at a junction having a farther distance from the vehicle  100  than the junction corresponding to the moving direction guide icon  502  arranged on the middle. 
     In addition, the vehicle  100  may control the display module  150  to display the icon  501  corresponding to the junction having the shortest distance from the position of the vehicle  100  in a color (e.g., blue) different from those of the icons  502  and  503  corresponding to the other junctions. 
     In this case, the vehicle  100  may, upon passing the closest junction, remove the icon  501  corresponding to the closest junction, and update the TBT preview image  510  with icons corresponding to at least one junction adjacent to the position of the vehicle  100 . 
     However, when the vehicle  100  arrives at the destination and there is no junction, the TBT preview image  510  may not be displayed. 
       FIG.  6    illustrates a case in which the vehicle  100  according to the embodiment displays a first augmented reality image in the shape of an arrow at a junction. 
     Referring to  FIG.  6   , the vehicle  100  according to the embodiment may be configured to, when it is determined that the position of the vehicle  100  is within a predetermined range (100 m) of a junction on a route to the destination, control the display module  150  to display a first AR image  600  in the shape of an arrow pointing in a moving direction at the junction to be overlaid on the front image. 
       FIGS.  7  and  8    illustrate a case in which the vehicle  100  according to the embodiment displays a second augmented reality image in the form of a carpet covering the ground of a travel lane. 
     Referring to  FIG.  7   , the vehicle  100  according to the embodiment may control the display module  150  to display a second AR image  700  in the shape of a carpet covering the ground of a travel lane at the position of the vehicle  100  to be overlaid on the front image. 
     In addition, the vehicle  100 , according to an embodiment, may control the display module  150  to display the remaining distance to the junction and the travel direction to be overlaid on the center of the second AR image  700 . 
     In this case, the vehicle  100 , according to an embodiment, may adjust at least one of a color or a transparency of the second AR image  700  based on the speed of the vehicle  100 . For example, the vehicle  100  may adjust the second AR image  700  to be blue when the speed of the vehicle  100  is less than a speed limit, and when the speed of the vehicle  100  is greater than or equal to the speed limit, adjust the second AR image  700  to be red. In addition, the vehicle  100  may adjust the transparence to increase when the vehicle  100  is stopped. In addition, the vehicle  100 , according to an embodiment may be configured to, when stopped according to a stop signal, process the front image and display an AR image on an area corresponding to a crosswalk in the front image to provide a guidance on the crosswalk. 
     In addition, referring to  FIG.  8   , the vehicle  100  according to an embodiment may be configured to, when changing lanes of the vehicle  100 , determine the second AR image  700  in a shape that connects the ground surface of a travel lane before the lane change and the ground surface of a travel lane after the lane change. In this case, the point at which the ground surface of the travel lane before the lane change is switched to the ground surface of the travel lane after the lane change in the second AR image  700  may be located at a predetermined distance (e.g., 20 m) from the driver&#39;s view point. 
     In the above, an example in which the vehicle  100  displays the TBT preview image  510 , the first AR image  600 , and the second AR image  700  has been described in detail. In this case, the TBT preview image  510 , the first AR image  600 , and the second AR image  700  may each be provided as separate layers or components, and the vehicle  100  according to an embodiment may control the display module  150  to display at least one of the TBT preview image  510 , the first AR image  600 , and the second AR image  700 . 
     Hereinafter, an embodiment of a method of controlling a vehicle  100  according to an aspect will be described. The vehicle  100  according to the above-described embodiment may be used for the method of controlling the vehicle  100 . Accordingly, the contents described above with reference to  FIGS.  1  to  8    may be equally applied to the method of controlling the vehicle  100 . 
       FIG.  9    is a flowchart showing a case in which route guidance is performed using one of a point cloud and a GPS signal in the last mile in a method of controlling a vehicle according to an embodiment. 
     Referring to  FIG.  9   , when the vehicle  100  according to the embodiment may, when it is determined that the vehicle  100  enters a predetermined range of the destination  200  based on a GPS signal (YES in operation  910 ), compare the feature points of the front image  115  with the point cloud map information  165  to determine the first predicted position  310  of the vehicle  100  ( 920 ). 
     The vehicle  100  according to the embodiment may, when it is determined that the vehicle  100  has not entered the predetermined range of the destination  200  based on the GPS signal (NO in operation  910 ), determine the second predicted position  320  of the vehicle  110  indicated by GPS signals as the position of the vehicle  100  ( 960 ), and display an AR image for guiding a route to the destination  200  based on the determined position of the vehicle  100  ( 970 ). 
     In addition, the vehicle  100  may compare the difference between the first predicted position  310  and the second predicted position  320  of the vehicle  100  indicated by the GPS signal ( 930 ). 
     The vehicle  100  according to the embodiment may, when the distance d 3  between the first predicted position  310  and the second predicted position  320  is greater than or equal to the error distance d 2  (Yes in operation  940 ), determine the first predicted position  310  as the position of the vehicle  100  ( 950 ), and display an AR image for guiding a route to the destination  200  based on the determined position of the vehicle  100  ( 970 ). 
     In addition, the vehicle  100  according to the embodiment may, when the distance d 3  between the first predicted position  310  and the second predicted position  320  is less than the error distance d 2  (No in operation  940 ), determine the second predicted position  320  as the position of the vehicle  100  ( 960 ), and display an AR image for guiding a route to the destination  200  based on the determined position of the vehicle  100  ( 970 ). 
     Meanwhile, the disclosed embodiments may be embodied in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operations of the disclosed embodiments. The recording medium may be embodied as a computer-readable recording medium. 
     The computer-readable recording medium includes all kinds of recording media in which instructions which may be decoded by a computer are stored, for example, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like. 
     As is apparent from the above, the vehicle and the method of controlling the same can, when entering a predetermined range of a destination, determine a predicted position of the vehicle using point cloud map information, compare the predicted position with a predicted position of the vehicle indicated by a global positioning system (GPS) signal to determine a more accurate position of the vehicle, thereby more accurately guiding a route to the destination in the last mile. 
     Although embodiments of the present disclosure have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the disclosure. Therefore, embodiments of the present disclosure have not been described for limiting purposes.