Navigation device and road lane recognition method thereof

1. A road lane recognition method in a navigation device, which can differentiate a road lane occupied by a vehicle running on bidirectional lanes, comprising:

estimating a vehicle location based on a satellite signal received from a carrier-based navigation satellite system and correction information received from a master station;

determining a drive direction of the vehicle using vehicle location information and road lane information stored in a digital map;

for each road lane in the road lane information, calculating a distance between a center line of the respective lane and the vehicle location using the vehicle location information and the road lane information;

determining the road lane having a minimum value among the calculated distances as a drive lane; and

determining whether the vehicle location is within a road range having one drive direction among the bidirectional road lanes, before calculating the distances,

wherein the calculating of the distances and the determination of the road lane having the minimum value among the calculated distances as the drive lane are carried out, if the vehicle is within the road range,

wherein the calculating of the distances and the determination of the road lane having the minimum value among the calculated distances as the drive lane are not carried out, if the vehicle is deviated from the road range,

wherein, if the vehicle is within one direction of the road range, a first lane is determined as the drive line, and

wherein, if the vehicle location is within the other direction of the road range, a last lane is determined as the drive line.