KR102190163B1 - Vehicle braking assistance system and method - Google Patents

Abstract

A vehicle braking assist system and a method thereof are disclosed. The vehicle braking assist system according to an embodiment of the present invention is a vehicle braking assist system that assists braking of a vehicle when an object is present in a braking assist area set as a predetermined area around the vehicle, and includes: a distance sensor installed on the vehicle to detect the object; an image sensor installed in the vehicle to generate image data of the object; and a control unit that is installed in the vehicle, uses the sensing data of the distance sensor and the image data to determine the existence and type of the object, and changes the braking assist area according to the determined type of the object.

Description

Vehicle braking assistance system and method {VEHICLE BRAKING ASSISTANCE SYSTEM AND METHOD}

The present invention relates to a vehicle braking assistance system and method, and more particularly, to a vehicle braking assistance system and method for assisting the braking of a vehicle when an object exists in a braking assistance area set as a predetermined area around a vehicle.

In recent years, various advanced driver assistance systems (ADAS) are being developed to improve vehicle safety and convenience. For example, a Parking Assitance System (PAS) that informs the driver of distance information using an ultrasonic sensor to assist in parking or driving backwards, and a rear monitoring system that shows the rear image of the vehicle using a rear camera ( RVM: Rear View Monitor) is being applied to vehicles.

In addition, from the passive level such as warning through sound, display, etc., by analyzing ultrasonic or image information, if there is an object that can collide on the vehicle's movement path, it is a direction to actively automatically control the vehicle to prevent accidents. Related technologies are developing. With such technological advances, the reverse-autonomous emergency braking system (R-AEB), which automatically intervenes in braking when an object exists on the vehicle's reverse path, is expected to become legal soon. It is sold with a reverse automatic emergency braking system system.

However, when driving or parking in a narrow space using a vehicle equipped with a driver assistance system that automatically intervenes in the braking of the vehicle, such as a reverse automatic emergency braking system, the driver of the vehicle is inconvenient due to excessive intervention of the system. There are many cases of feeling.

In such a situation, there is a demand for the development of a vehicle braking assistance system that helps secure safety and convenience while minimizing driver discomfort due to unnecessary intervention.

Registered Patent No. 10-1371713 "How to prevent reverse collision for vehicles"

The present invention is to solve the above-described problems of the prior art, and an object of the present invention is to provide a vehicle braking assistance system and method in which safety and convenience are secured, but the driver's inconvenience due to unnecessary intervention is minimized.

Another object of the present invention is to provide a vehicle braking assistance system and method that improves the safety of pedestrians.

According to an aspect of the present invention, there is provided a vehicle braking assistance system for assisting braking of the vehicle when an object exists in a braking assistance area set as a predetermined area around a vehicle, comprising: a distance sensor installed in the vehicle to detect the object; An image sensor installed in the vehicle to generate image data of the object, and an image sensor installed in the vehicle, determining the existence and type of the object using the sensing data and the image data of the distance sensor, and the determined type of object Accordingly, a vehicle braking assistance system including a control unit for changing the braking assistance area is provided.

In this case, when the object is determined to be a person, the control unit may expand the braking assistance area, and when it is determined that the object is not a person, the control unit may reduce the braking assistance area.

In addition, the braking assistance region may be determined by a lateral boundary radiating to both sides around the vehicle and a distal boundary between the lateral boundary.

In addition, the control unit may expand or contract the lateral boundary according to the determined type of object.

In addition, a driving information sensor for detecting driving information including a speed of the vehicle may be further included, and the control unit may change the braking assistance area according to the determined type of the object and the speed.

In addition, the braking assistance area is determined by a lateral boundary radiating to both sides around the vehicle and a distal boundary between the lateral boundary, and the control unit expands or contracts the lateral boundary according to the determined type of object. And, it is possible to expand or contract the distal boundary according to the speed.

In addition, the controller calculates an expected movement path of the vehicle using the driving information, and when the object exists in the braking assistance area and also exists on the expected movement path, and a collision is expected, either a warning or automatic braking You can do more than one.

In addition, the control unit may perform automatic braking when the object exists in the braking assist area and also exists on the expected movement path, and a Time to Collision (TTC) is less than a first reference time.

In addition, the control unit may perform a warning when the object exists in the braking assistance area and also exists on the expected movement path, and the TTC is greater than the first reference time but less than a second reference time greater than the first reference time. I can.

In addition, the driving information includes gear shift information, and the control unit may assist the braking of the vehicle only when the vehicle is reversing based on the gear shift information.

According to another aspect of the present invention, a vehicle braking assistance method for assisting the braking of the vehicle when an object exists in a braking assistance area set as a predetermined area around a vehicle, the vehicle braking assistance method using the object detection information and image data. An object recognition step of determining the existence and type of the object; A braking auxiliary area setting step of changing the braking auxiliary area according to the determined object type; A first determination step of determining whether the object exists in the braking assistance area; A second determination step of determining whether the object exists on an expected movement path of the vehicle when the object exists in the braking assistance area; A third determination step of determining the risk of collision between the vehicle and the object when the object exists in the braking assistance area and also on the expected movement path, and warning or automatic braking when there is a risk of collision between the vehicle and the object A vehicle braking assistance method comprising an action step of performing any one or more is provided.

In this case, in the step of setting the braking auxiliary area, the braking auxiliary area is determined by a lateral boundary radiating to both sides of the vehicle and a distal boundary between the lateral boundary, and the lateral boundary is determined according to the type of the determined object. It is possible to expand or contract the boundary, and expand or contract the distal boundary according to the speed.

In addition, the third determination step is a first reference time determination step of determining whether a time to collision (TTC) is less than a first reference time when the object exists in the braking assistance area and also exists on the expected movement path. And a second determining whether the TTC is less than or equal to a second reference time greater than the first reference time when the object exists in the braking assistance area and also exists on the expected movement path and the TTC is greater than the first reference time. It may include a step of determining the reference time.

In addition, the action step includes performing automatic braking for the vehicle when the object exists in the braking assistance area and also exists on the expected movement path and the TTC (Time to Collision) is less than a first reference time. And a warning execution step of performing a warning when the object exists in the braking assist area and also exists on the expected movement path and the TTC is greater than the first reference time but less than a second reference time greater than the first reference time. It may include.

Further, before the object recognition step, a backward determination step of determining whether the vehicle is backward based on the gear shift information of the vehicle may be further included, and the object recognition step may be performed only when the vehicle is moving backward.

According to an embodiment of the present invention, it is possible to determine the existence and type of an object in the braking assistance area set as a certain area around the vehicle, and to variably set the braking assistance area according to the determined type of the object. The driver's discomfort due to unnecessary intervention can be minimized while securing and convenience.

According to an embodiment of the present invention, when the object is determined to be a person, since the braking assistance area is expanded, the safety of pedestrians may be improved.

1 is a block diagram of a vehicle braking assistance system according to an embodiment of the present invention.
2 is a view showing a vehicle equipped with a vehicle braking assistance system according to an embodiment of the present invention.
3 is a view showing a braking assistance area set by the vehicle braking assistance system according to an embodiment of the present invention.
4 is a diagram illustrating a case in which a vehicle braking assistance system according to an embodiment of the present invention extends a braking assistance area.
5 is a diagram illustrating a case in which a vehicle braking assistance system according to an embodiment of the present invention reduces a braking assistance area.
6 is a diagram illustrating a case where a vehicle braking assistance system according to an embodiment of the present invention simultaneously determines a braking assistance area and an expected movement path of the vehicle.
7 is a flowchart of a vehicle braking assistance method according to an embodiment of the present invention.
8 is a detailed flowchart of a third determination step and an action step of the vehicle braking assistance method according to an embodiment of the present invention.
9 is a flowchart of a vehicle braking assistance method according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement the present invention. The present invention may be implemented in various different forms, and is not limited to the embodiments described herein. In order to clearly describe the present invention, parts not related to the description in the drawings are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

In the present specification, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance the possibility.

1 is a block diagram of a vehicle braking assistance system according to an embodiment of the present invention. In addition, FIG. 2 is a view showing a vehicle equipped with a vehicle braking assistance system according to an embodiment of the present invention.

The vehicle braking assistance system according to an embodiment of the present invention is a system that assists the braking of the vehicle 1 when an object exists in a braking assistance area set as a predetermined area around the vehicle 1. The braking assistance area may be set at the rear of the vehicle 1 when the vehicle 1 is moving backward, and may be set at the front of the vehicle 1 when the vehicle 1 is moving forward.

Referring to FIGS. 1 and 2, a vehicle braking assistance system according to an embodiment of the present invention includes a distance sensor 10, an image sensor 20, a driving information sensor 30, and a control unit 40.

The distance sensor 10 is installed in the vehicle 1 to detect an object. The distance sensor 10 detects the presence or absence of an object around the vehicle 1 and a distance to the object. The distance sensor 10 may include at least one of an ultrasonic sensor, a radar, and an infrared sensor.

In one embodiment of the present invention, the distance sensor 10 is made of an ultrasonic sensor, and three are installed in the front of the vehicle 1 and three in the rear. The type, installation location, and number of the distance sensor 10 may vary according to the size or type of the vehicle and other needs.

The image sensor 20 is installed in the vehicle 1 to generate image data of an object. The image sensor 20 has a field of view (FOV) capable of photographing a certain area around the vehicle 1. The image sensor 20 may include one or more of a radar, a camera, and a lidar.

In one embodiment of the present invention, the image sensor 20 is made of a camera, and is installed one by one at the front and the rear of the vehicle 1, respectively. However, by this, the type, installation location, and number of the image sensors 20 are not limited, and other types of image sensors may be used as needed, may be installed on both sides of the vehicle, and the number of installations may also be increased or decreased. .

The driving information sensor 30 detects driving information including the speed of the vehicle 1. The driving information sensor 30 may be installed in the vehicle 1. The driving information may be the speed of the vehicle 1, a steering angle, a yaw rate, and a gear shift. That is, the driving information sensor 30 may include at least one of a speed sensor, a steering angle sensor, a yaw sensor, and a gear shift sensor.

In addition, the driving information may be arbitrary information that can be used to predict the moving route of the vehicle 1. In other words, the driving information sensor 30 may be any sensor that detects information necessary to predict the moving path of the vehicle 1.

The control unit 40 is installed in the vehicle 1 and determines the existence and type of an object using sensing data of the distance sensor 10 and image data generated by the image sensor 20, and the determined type of object Change the braking assist area according to. The controller 40 may be implemented as a single electronic control unit connected to the distance sensor 10, the image sensor 20, and the driving information sensor 30. Alternatively, the control unit 40 may be implemented as a plurality of distributed electronic control units.

In an embodiment of the present invention, the controller 40 may expand the braking assistance area when it is determined that the object is a person, and reduce the braking assistance area when it is determined that the object is not a person. In other words, the type of object may be divided into a pedestrian (2) and an obstacle (3) rather than the pedestrian (2). This is a division according to the relative importance between collision risk prevention and unnecessary driving intervention. It can be said that the pedestrian 2 has a relatively large need for the former, and the obstacle 3 has a greater need for the latter.

3 is a diagram illustrating a braking assistance area set by the vehicle braking assistance system according to an embodiment of the present invention. Referring to FIG. 3, the braking assistance region may be determined by the lateral boundaries S1 and S2 radiating to both sides around the vehicle 10 and the distal boundary R between the lateral boundaries S1 and S2. That is, in one embodiment of the present invention, the braking auxiliary region may be a region surrounded by the lateral boundaries S1 and S2 and the distal boundary R. In this case, the distal boundary R is formed of a line connecting the farthest point from the vehicle 10 among the braking assist areas. Accordingly, the distal boundary R may be formed in an arc shape.

The control unit 40 determines the existence and type of an object using the sensing data of the distance sensor 10 and the image data generated by the image sensor 20, and the lateral boundary (S1, S2) according to the determined type of the object. ) Can be expanded or contracted. In one embodiment of the present invention, the lateral boundaries S1 and S2 may be expanded or contracted within a predetermined width W range around a reference line indicated by a solid line.

For example, as shown in FIG. 4, when it is determined that the pedestrian 2 is present as a result of the determination, the control unit 40 may conservatively expand the braking assistance area by extending the side boundary S1 to the maximum width. . The control unit 40 can reliably prevent the risk of collision with the pedestrian 2 by performing warning or automatic braking based on the expanded braking assistance area.

On the other hand, as shown in FIG. 5, when it is determined that there is an obstacle 3 that is not a person as a result of the determination, the control unit 40 can reduce the braking assistance area by reducing the lateral boundary S1 to the minimum width. . The control unit 40 may perform warning or automatic braking based on the reduced braking assistance area as described above, thereby minimizing a driver's inconvenience due to a sensitive warning or automatic braking.

Meanwhile, in an embodiment of the present invention, the control unit 40 may change the braking assistance area according to the determined type of the object and the speed of the vehicle 1. Specifically, the controller 40 may expand or contract the lateral boundaries S1 and S2 according to the determined type of the object, and expand or contract the distal boundary R according to the speed. For example, the controller 40 may expand the distal boundary R when the speed of the vehicle 1 is high, and reduce the distal boundary R when the speed of the vehicle 1 is relatively low.

6 is a diagram illustrating a case in which the vehicle braking assistance system according to an embodiment of the present invention simultaneously determines a braking assistance area and an expected movement path of the vehicle.

Referring to FIG. 6, in an embodiment of the present invention, the controller 40 calculates an expected movement path P of the vehicle 1 by using driving information detected by the driving information sensor 30. In addition, the control unit 40 performs one or more of warning or automatic braking when an object exists in the braking assistance area and also exists on the expected movement path P and a collision is expected. In FIG. 6, the object is shown as an obstacle 3, not a person, but may be a pedestrian 2.

In more detail, the controller 40 performs automatic braking when the object exists in the braking assistance area and also exists on the expected movement path P, and the time required for collision, that is, Time to Collision (TTC), is less than the first reference time. I can. In this case, the first reference time may be a predetermined time in consideration of the braking performance of the vehicle 1 and the like.

In addition, the control unit 40 may issue a warning when the object exists in the braking assistance area and also exists on the expected movement path P, and the TTC is greater than the first reference time but less than the second reference time greater than the first reference time. I can. The warning may be made in the form of sound, display, etc. through a human machine interface (HMI) installed in the vehicle 1. In this case, the second reference time, like the first reference time, may be a predetermined time in consideration of the braking performance of the vehicle 1.

In this way, when the risk of collision between the vehicle 1 and the object is relatively high, the control unit 40 performs automatic braking regardless of the will of the driver, and when the risk of collision between the vehicle 1 and the object is relatively low, Only warnings urging the driver to brake can be issued.

3 to 6, the vehicle braking assistance system according to an embodiment of the present invention is applied to a reverse automatic emergency braking system (R-AEB) that automatically intervenes in braking when an object exists on the vehicle's reverse path. Was shown. However, the vehicle braking assistance system according to the embodiment of the present invention is not limited to being applied to the reverse automatic emergency braking system, and can also be applied to the braking assistance system on the forward path, and even in this case, the braking assistance area is based on the above description. Can be set.

On the other hand, when the vehicle braking assistance system according to the embodiment of the present invention is applied to the reverse automatic emergency braking system, the driving information includes gear shift information, and the control unit 40 is based on the gear shift information. It is possible to assist the braking of the vehicle 10 only in case.

7 is a flowchart of a vehicle braking assistance method according to an embodiment of the present invention. 8 is a detailed flowchart of a third determination step and an action step of the vehicle braking assistance method according to an embodiment of the present invention.

The vehicle braking assistance method according to an embodiment of the present invention is a method of assisting the braking of the vehicle 1 when an object exists in a braking assistance area set as a predetermined area around the vehicle 1. The vehicle braking assistance method according to the embodiment of the present invention may be performed by the vehicle braking assistance system according to the embodiment of the present invention described above.

Referring to FIG. 7, the vehicle braking assistance method according to an embodiment of the present invention includes an object recognition step (S10), a braking assistance area setting step (S20), a first determination step (S30), and a second determination step (S40). , A third determination step (S50) and an action step (S60).

The object recognition step S10 is a step of determining the existence and type of the object using detection information and image data of the object. The object detection information is obtained by the distance sensor 10, and image data can be generated by the image sensor 20.

In the object recognition step (S10), the type of the object may be divided into a pedestrian (2) and an obstacle (3) not the pedestrian (2). As described above, this is a division according to the relative importance between preventing a collision risk and preventing unnecessary driving intervention, and it can be said that the pedestrian 2 has a relatively large need for the former, and the obstacle 3 has a greater need for the latter.

The braking auxiliary area setting step S20 is a step of changing the braking auxiliary area according to the determined type of the object. The braking auxiliary region setting step S20 may be performed by the control unit 40. Specifically, in the setting step S20 of the braking assistance area, the controller 40 may expand the braking assistance area when it is determined that the object is a person, and reduce the braking assistance area when it is determined that the object is not a person.

The braking assistance area may be determined by the lateral boundaries S1 and S2 radiating to both sides around the vehicle 1 as shown in FIG. 3 and the distal boundary R between the lateral boundaries S1 and S2. . In the braking auxiliary area setting step (S20), the controller 40 determines the existence and type of an object using the sensing data of the distance sensor 10 and the image data generated by the image sensor 20, and Depending on the type of lateral boundary (S1, S2) can be expanded or reduced.

In addition, in the braking assistance area setting step S20, the control unit 40 may expand or contract the distal boundary R according to the speed of the vehicle 1 obtained by the driving information sensor 30.

The first determination step S30 is a step of determining whether an object exists in the braking assistance area. The first determination step S30 may be performed by the control unit 40. In the first determination step S30, the controller 40 determines whether an object exists in the braking assistance area set through the braking assistance area setting step S20.

In the first determination step S30, if an object exists in the braking assist area, the next step is performed. On the other hand, when there is no object in the braking assistance area, the process returns to the object recognition step S10.

The second determination step S40 is a step of determining whether the object exists on the expected movement path P of the vehicle 1 when the object exists in the braking assistance area. The second determination step S40 may be performed by the control unit 40. In the second determination step (S40), the controller 40 calculates the expected travel path P of the vehicle 1 using the driving information detected by the driving information sensor 30, and calculates the expected travel path P It is determined whether an object exists on the image.

In the second determination step S40, if an object exists on the expected movement path P, the next step proceeds. On the other hand, when there is no object on the expected movement path P, it may return to the object recognition step S10.

The third determination step S50 is a step of determining the risk of collision between the vehicle 1 and the object when the object exists in the braking assistance area and also exists on the expected movement path. The third determination step S50 may be performed by the control unit 40.

Referring to FIG. 8, in the third determination step (S50), when the object exists in the braking assist area and also exists on the expected movement path P, it is determined whether the TTC (Time to Collision) is less than the first reference time. 1 If the reference time determination step (S51) and the object exists in the braking assistance area and also exists on the expected movement path P, and the TTC is greater than the first reference time, is the TTC less than the second reference time greater than the first reference time? It may include a second reference time determination step (S52) of determining whether or not.

As described above, the first reference time may be a predetermined time in consideration of the braking performance of the vehicle 1 and the like. Like the first reference time, the second reference time may be a predetermined time in consideration of the braking performance of the vehicle 1 and the like.

The action step S60 is a step of performing one or more of warning or automatic braking when there is a risk of collision between the vehicle 1 and an object. The action step S60 may be performed by the control unit 40.

Referring to FIG. 8, in the action step S60, when the object exists in the braking assistance area and also exists on the expected movement path P, and the TTC (Time to Collision) is less than the first reference time, the vehicle 1 is automatically The automatic braking performance step (S61) of performing braking and the object exists in the braking assistance area and also exists on the expected movement path P, and the TTC is greater than the first reference time but less than the second reference time greater than the first reference time. A warning execution step (S62) of performing a warning may be included.

As such, the action step (S60) includes an automatic braking performance step (S61) of performing automatic braking regardless of the driver's will when the risk of collision between the vehicle 1 and the object is relatively high, and the vehicle 1 and the object When the risk of collision of the driver is relatively low, a warning execution step (S62) of performing only a warning urging the driver to brake is included, so that appropriate braking assistance measures are achieved according to the collision risk.

9 is a flowchart of a vehicle braking assistance method according to another embodiment of the present invention. 9, a vehicle braking assistance method according to another embodiment of the present invention is compared with a vehicle braking assistance method according to an embodiment of the present invention, before the object recognition step (S10), a backward determination step (S05). ) More.

That is, the vehicle braking assistance method according to another embodiment of the present invention is a case where the vehicle braking assistance method according to the embodiment of the present invention is applied to the reverse automatic emergency braking system, and further includes determining whether the vehicle is reversing. There is a difference in that they are doing.

The reversing determination step S05 is a step of determining whether the vehicle 1 is reversing based on gear shift information of the vehicle 1. In another embodiment of the present invention, the object recognition step S10 is performed only when the vehicle 1 is moving backward as a result of the backward determination step S05. On the other hand, when the vehicle 1 is not in reverse, the reverse determination step S05 may be repeatedly performed again.

In addition, the backward determination step S05 may be performed by the controller 40. The controller 40 may determine whether or not the vehicle 1 is reversed based on gear shift information obtained through the driving information sensor 30.

Since the remaining steps in the vehicle braking assistance method according to another embodiment of the present invention are the same as described above, detailed descriptions will be omitted.

Although one embodiment of the present invention has been described, the spirit of the present invention is not limited by the embodiments presented herein, and those skilled in the art who understand the spirit of the present invention, within the scope of the same spirit, Other embodiments may be easily proposed by addition, change, deletion, addition, etc., but it will be said that this also falls within the scope of the present invention.

10: distance sensor
20: image sensor
30: driving information sensor
40: control unit

Claims (15)

A vehicle braking assistance system that assists the braking of the vehicle when an object is present in a braking assistance area set as a predetermined area around the vehicle,
A distance sensor installed on the vehicle to detect the object;
An image sensor installed in the vehicle to generate image data of the object, and
A control unit installed in the vehicle, determining the existence and type of the object using the sensing data and the image data of the distance sensor, and changing the braking assistance area according to the determined type of the object,
The braking assistance area is determined by a lateral boundary radiating to both sides around the vehicle and a distal boundary between the lateral boundary. The method of claim 1,
The control unit expands the braking assistance area when the object is determined to be a person, and reduces the braking assistance area when it is determined that the object is not a person. delete The method of claim 1,
The control unit expands or contracts the side boundary according to the determined object type. The method of claim 1,
Further comprising a driving information sensor for detecting driving information including the speed of the vehicle,
The control unit changes the braking assistance area according to the determined type of the object and the speed. The method of claim 5,
The braking assistance region is determined by a lateral boundary radiating to both sides around the vehicle and a distal boundary between the lateral boundary,
The control unit expands or contracts the lateral boundary according to the determined type of the object, and expands or contracts the distal boundary according to the speed. The method of claim 5,
The control unit calculates an expected movement path of the vehicle using the driving information, and when the object exists in the braking assistance area and also exists on the expected movement path and a collision is expected, at least one of warning or automatic braking Vehicle braking assistance system to perform. The method of claim 7,
The control unit performs automatic braking when the object exists in the braking assistance area and also exists on the expected movement path, and the time to collision (TTC) is less than a first reference time. The method of claim 8,
The control unit performs a warning when the object exists in the braking assistance area and also exists on the expected movement path, and the TTC is greater than the first reference time but less than a second reference time greater than the first reference time. Auxiliary system. The method of claim 5,
The driving information includes gear shift information,
The control unit is a vehicle braking assistance system that assists the braking of the vehicle only when the vehicle is reversing based on the gear shift information. A vehicle braking assistance method for assisting braking of the vehicle when an object is present in a braking assistance area set as a predetermined area around a vehicle,
An object recognition step of determining the existence and type of the object by using the detection information and image data of the object;
A braking auxiliary area setting step of changing the braking auxiliary area according to the determined object type;
A first determination step of determining whether the object exists in the braking assistance area;
A second determination step of determining whether the object exists on an expected movement path of the vehicle when the object exists in the braking assistance area;
A third determination step of determining a risk of collision between the vehicle and the object when the object exists in the braking assistance area and also exists on the expected movement path; and
In case there is a risk of collision between the vehicle and the object, it includes a step of performing any one or more of warning or automatic braking,
In the step of setting the braking assistance area, the braking assistance area is determined by a lateral boundary radiating to both sides of the vehicle and a distal boundary between the lateral boundary, and the lateral boundary is determined according to the determined type of the object. Vehicle braking assistance method for expanding or contracting, and expanding or contracting the distal boundary according to the speed. delete The method of claim 11,
The third determining step,
A first reference time determining step of determining whether a time to collision (TTC) is less than or equal to a first reference time when the object exists in the braking assist area and also exists on the expected movement path; and
A second criterion for determining whether the TTC is less than or equal to a second reference time greater than the first reference time when the object exists in the braking assistance area and also exists on the expected movement path and the TTC is greater than the first reference time Vehicle braking assistance method including the step of determining a time. The method of claim 13,
The action step,
An automatic braking performing step of performing automatic braking on the vehicle when the object exists in the braking assistance area and also exists on the expected movement path and the TTC (Time to Collision) is less than a first reference time, and
Including a warning execution step of performing a warning when the object exists in the braking assistance area and also exists on the expected movement path, and the TTC is greater than the first reference time but less than a second reference time greater than the first reference time. Vehicle braking assistance method. The method of claim 11,
Before the object recognition step,
The vehicle braking assistance method further comprises a backward determination step of determining whether or not the vehicle is backward based on the vehicle gear shift information, wherein the object recognition step is performed only when the vehicle is moving backward.

Images