KR102446282B1 - Reverse driving assistant system of vehicle and control method thereof - Google Patents

Abstract

The present invention relates to a backward driving assistance system for a vehicle, comprising: a distance measuring unit for detecting an obstacle in a driving direction of a vehicle and measuring a distance to the obstacle; a vehicle position detection unit for detecting an absolute position of the vehicle; an operation switch unit for forcibly canceling and restarting the reverse driving assistance system; a steering unit for adjusting a steering direction of the steering wheel so that the vehicle travels in reverse along a reverse driving path previously generated by the control of the controller; And even if the user temporarily intervenes in the reverse driving after the automatic reverse driving is started and manually manipulates the steering, if the user's intervention is terminated, the user enters the reverse driving path at the position at the time of the end and continues to perform the automatic reverse driving and the control unit.

Description

Reverse driving assistance system of a vehicle and its control method

The present invention relates to a reverse driving assistance system for a vehicle and a method for controlling the same, and more particularly, even if a driver temporarily intervenes to change driving in a situation in which the reverse driving assistance system operates, stably recalculates the reverse driving route thereafter. The present invention relates to a reverse driving assistance system for a vehicle and a method for controlling the same, enabling continuous automatic control.

In general, there are many drivers who complain of difficulties in driving when driving the vehicle in reverse.

This is because the reverse driving of the vehicle is different from the forward driving and its movement trajectory is different, and when the vehicle is driving in reverse, the driver directly checks various elements such as the rearview mirror, side mirror, and rear camera to check the reverse path and obstacles. Because you have to control the steering.

For example, when it is necessary to pass in reverse through a narrow road or a road in which a vehicle is parked on the side of the road, the driver checks the distance between obstacles such as a parked or stopped vehicle to directly check whether backing is possible. The driver's skill level and special attention were required because he had to drive backwards while avoiding obstacles while making judgments, and he had to drive while avoiding obstacles while not being biased to either side of the reverse path.

Accordingly, a reverse driving assistance system is being developed so that a driver can safely and comfortably travel in reverse.

In this regard, the "reverse driving assistance system of a vehicle" disclosed in Korean Patent Application Laid-Open No. 10-2014-0083783 (published on July 4, 2014) includes an obstacle detection signal for obstacles present in the front and rear of the vehicle. A technique for generating a reverse driving path through which a vehicle can travel backwards by avoiding rear obstacles based on the technique is disclosed. However, the reverse driving assistance system of such a vehicle can be useful when the road width is narrow, but since it creates a reverse driving path based only on the obstacle detection signal, when the road width is wide, obstacles may be detected depending on the body posture direction. Until then, there was a problem that it could be too biased to either left or right on the reverse path.

On the other hand, the "reverse driving assistance system and reverse driving assistance method of a vehicle" disclosed in Laid-Open Patent Publication No. 10-2017-0173813 (published on June 16, 2017) uses real-time location information of the vehicle and an obstacle detection signal. Disclosed is a technology for controlling steering so that a vehicle can safely avoid rear obstacles while reversing without departing from the reverse path by generating a reverse path.

However, in the case of automatic steering over a sharp or long distance, the existing reverse driving assistance system almost inevitably generates a position error due to wheel slip or accumulated error in the amount of movement. do. At this time, the existing reverse driving assistance system had the inconvenience of having to drive manually as the automatic steering control state was canceled for the protection of the driver after the driver's intervention in the reverse driving assistance system.

According to one aspect of the present invention, the present invention was created to solve the above problems, and even if the driver temporarily intervenes to change the driving in a situation in which the reverse driving assistance system is operating, the reverse driving route is stably maintained thereafter. An object of the present invention is to provide a reverse driving assistance system for a vehicle and a control method thereof, which can be re-calculated to continuously perform reverse automatic steering control.

According to another aspect of the present invention, the present invention provides a method of forcibly stopping and canceling the operation of the reverse driving assist system when a driver wants it, and recovering the automatic steering right of the reverse driving assist system so that the vehicle can be changed to manual steering. An object of the present invention is to provide a reverse driving assistance system and a control method thereof.

In accordance with one aspect of the present invention, there is provided a backward driving assistance system for a vehicle, comprising: a distance measuring unit for detecting an obstacle in a driving direction of a vehicle and measuring a distance to the obstacle; a vehicle position detection unit for detecting an absolute position of the vehicle; an operation switch unit for forcibly canceling and restarting the reverse driving assistance system; a steering unit for adjusting a steering direction of the steering wheel so that the vehicle travels in reverse along a reverse driving path previously generated by the control of the controller; And even if the user temporarily intervenes in the reverse driving after the automatic reverse driving is started and manually manipulates the steering, if the user's intervention is terminated, the user enters the reverse driving path at the position at the time of the end and continues to perform the automatic reverse driving It characterized in that it includes; the control unit.

In the present invention, the control unit continuously monitors a situation in which the user intervenes in the automatic reverse driving, and when the user intervenes in the automatic reverse driving through the monitoring and the intervention is terminated, the user can It is characterized in that the automatic reverse driving continues from the rest of the path except for the intervening path.

In the present invention, the control unit generates a reverse driving path based on the trajectory of the vehicle moving forward, and continues to maintain the automatic reverse driving state until the user forcibly cancels the reverse driving assistance system using the operation switch unit. characterized in that

In the present invention, the control unit automatically forcibly cancels the reverse driving assistance system when a predetermined forced cancellation condition is met even if the operation switch unit is not used, and when the reverse driving assistance system is forcibly canceled, the previously generated reverse driving When the path is removed and the user restarts the reverse driving assistance system using the operation switch unit, the reverse driving path is re-created at the position at the restarted time point to automatically perform reverse driving.

In the present invention, the predetermined forced termination condition includes a condition in which the user moves more than a specified distance after changing the gear to 'D (driving)'.

In the present invention, the control unit is characterized in that it generates the reverse travel path capable of traveling backward while avoiding obstacles detected through the distance measuring unit, the vehicle position detecting unit, and the rear monitoring unit.

In the present invention, the distance measuring unit includes at least one or more distance measuring sensors for measuring a distance, and it is characterized in that it includes at least one of a laser scanner, a rear radar, and an ultrasonic sensor.

In the present invention, the vehicle position detection unit is characterized in that the current position of the vehicle is detected by using at least one of a wireless communication network and GPS/GNSS.

In the present invention, the controller may automatically control at least one of a shift lever, an accelerator pedal, and a deceleration pedal.

In the present invention, the rear monitoring unit for preventing a collision with a rear obstacle when the vehicle travels in reverse using at least one rear monitoring sensor; characterized in that it further comprises.

According to another aspect of the present invention, there is provided a method for controlling a reverse driving assistance system for a vehicle, the method comprising: generating, by a controller, a reverse driving path; performing, by the control unit, reverse automatic steering control according to the amount of backward movement calculated by inversely calculating a path to be performed by a specified distance based on the reverse driving path when the operating condition for automatic reverse control is satisfied; and when the user interrupts the intervention after performing manual steering control by intervening in the automatic reverse steering control, the control unit checks the driving trajectory error for the original reverse driving path, corrects the error, and then reverses the original reverse driving path. and performing reverse automatic steering control along the driving path.

In the present invention, in order to perform the step of performing automatic reverse steering control along the original reverse driving path, the control unit automatically reverses even if manual steering control is performed by a driver's intervention during the automatic reverse steering control. Until the vehicle reaches the final target point by steering control, the process of compensating the driving trajectory error by comparing the rearward movement trajectory of the vehicle with the final target point is repeatedly performed, and finally automatically reverses along the original reverse driving path It is characterized in that the steering control is performed.

In the present invention, the method further includes: while performing the step of performing the automatic reverse steering control, the control unit checks the state of the vehicle; When the forced termination condition is satisfied, the step of forcibly terminating the operation of the rear driving assistance system by the control unit; characterized in that it further comprises.

In the present invention, the condition for forcibly canceling the automatic control of the rear driving assistance system is when the release button of the operation switch unit is input, and when the vehicle is moved over a specified distance with the gear in the driving (D) state. characterized by including.

In the present invention, when the operation of the rear driving assistance system is stopped, the control unit restarts the rear driving assistance system when the user inputs an operation button of the operation switch unit; and performing automatic reverse driving by re-creating a new reverse driving route from the restarted time point to the final target point.

In the present invention, the control unit is characterized in that it is possible to generate a reverse travel path based on a pre-stored forward movement trajectory.

In the present invention, the operating conditions for the automatic reverse control include a condition that a user commands automatic reverse control through an operation switch and the current gear is in a reverse (R) state.

According to one aspect of the present invention, even if the driver temporarily intervenes to change the driving in a situation in which the reverse driving assistance system is operating, the present invention stably re-calculates the reverse driving path afterward so that automatic control can be continuously performed. to improve the convenience of

According to another aspect of the present invention, the present invention forcibly stops and cancels the operation of the reverse driving assist system when the driver wants it, and recovers the automatic steering right of the reverse driving assist system to change to manual steering for user convenience. to be able to improve

1 is an exemplary view showing a schematic configuration of a reverse driving assistance system for a vehicle according to an embodiment of the present invention;
2 is a flowchart for explaining a method of controlling a reverse driving assistance system of a vehicle according to an embodiment of the present invention;
3 is a method of performing automatic reverse driving when the user restarts the reverse driving assistance system after forcibly canceling the reverse driving assistance system in FIG. 1 or when the user temporarily intervenes during automatic reverse driving by the reverse driving assistance system An example diagram shown to explain.

Hereinafter, an embodiment of a vehicle reverse driving assistance system and a control method thereof according to the present invention will be described with reference to the accompanying drawings.

In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is an exemplary view showing a schematic configuration of a reverse driving assistance system for a vehicle according to an embodiment of the present invention.

As shown in FIG. 1 , the reverse driving assistance system of the vehicle according to the present embodiment includes a distance measuring unit 110 , a vehicle position detecting unit 120 , a rear monitoring unit 130 , an operation switch unit 140 , and a warning. It includes an output unit 150 , a steering unit 160 , and a control unit 170 .

The distance measuring unit 110 detects an obstacle in the driving direction of the vehicle and detects (or measures) the distance to the obstacle.

The distance measuring unit 110 includes at least one or more distance measuring sensors for detecting (or measuring) a distance. For example, the distance measuring sensor may include a laser scanner, a rear radar, and an ultrasonic sensor.

The vehicle position detection unit 120 detects (or estimates) the absolute position of the vehicle.

The vehicle location detector 120 detects the current location of the vehicle using a wireless communication network (eg, 4G, 5G, etc.), GPS/GNSS, and the like.

The rear monitoring unit 130 includes at least one rear monitoring sensor for preventing a collision with a rear obstacle when the vehicle travels in reverse. For example, the rear monitoring sensor includes a rear camera for photographing a rear image. In addition, although not shown in the drawings, it may include a front camera for front monitoring.

The operation switch unit 140 allows a user (or a driver) to set the forced cancellation (or termination) and restart of the reverse driving assistance system.

The warning output unit 150 guides or warns the driver of whether automatic reverse driving is possible and the sudden appearance of obstacles.

In addition, the warning output unit 150 displays the guide message generated by the control unit 170 so that the user (or the driver) can visually recognize it or outputs a sound. Accordingly, the warning output unit 150 may include a display unit, a lamp unit, a buzzer, a speaker, and the like.

For example, the warning output unit 150 outputs a guide message indicating that automatic reverse driving is possible when automatic reverse driving is possible according to the determination of the control unit 170, and when automatic reverse driving is impossible, the vehicle to the rear It is possible to output a guide message in the form of visual information or auditory information stating that it is impossible to pass and must be detoured.

The steering unit 160 adjusts a steering direction of a steering wheel (not shown) so that the vehicle travels backward along a previously generated reverse travel path under the control of the control unit 170 . In this case, the steering unit 160 may be implemented by electric power steering (MDPS).

Then, after the driver positions the shift lever to R, the accelerator pedal or the deceleration pedal is operated, and the steering unit 160 adjusts the steering direction to start automatic reverse driving. Alternatively, the control unit 170 may automatically control the shift lever, the accelerator pedal, and the deceleration pedal.

The control unit 170 may store the forward movement trajectory of the vehicle in an internal memory (not shown), and conversely may generate a reverse driving path based on the stored forward movement trajectory. In addition, the control unit 170 determines a reverse driving path capable of traveling backward while avoiding obstacles detected (or detected) through the distance measuring unit 110 , the vehicle position detecting unit 120 , and the rear monitoring unit 130 . You can also create

In addition, the reverse driving path generated by the control unit 170 may be stored in an internal memory (not shown), and the user (or the driver) forcibly cancels (or terminates) the reverse driving assistance system using the operation switch unit 140 . ) until you do. However, even if the operation switch unit 140 is not used, the control unit 170 moves backward when a predetermined condition (eg, when the user changes the gear to 'D' and moves more than a specified distance (eg, 20Cm)) It is also possible to forcefully cancel (or terminate) the driving assistance system automatically.

In addition, when the user (or driver) forcibly cancels (or terminates) the reverse driving assistance system, the control unit 170 removes the reverse driving path, and when the user (or the driver) restarts the reverse driving assistance system, the Automatic reverse driving may be performed by re-creating a reverse driving path at the position at the time of restarting (refer to FIG. 3(a)).

In addition, the control unit 170 enters the reverse driving path at the position at the time when the user's intervention is terminated even if the user temporarily intervenes and manually manipulates the reverse driving after the automatic reverse driving is started and continues automatically. Reverse driving may be performed (refer to (b) of FIG. 3).

3 is a method of performing automatic reverse driving when the user restarts the reverse driving assistance system after forcibly canceling the reverse driving assistance system in FIG. 1 or when the user temporarily intervenes during automatic reverse driving by the reverse driving assistance system It is an example diagram shown to explain.

Referring to (a) of FIG. 3 , the controller 170 stores the forward movement trajectory FD1 of the vehicle in an internal memory (not shown), and travels backward based on the stored forward movement trajectory FD1 . Assuming that automatic reverse driving is performed by creating a path RD1, when the user (or driver) forcibly cancels (or terminates) the reverse driving assistance system at point P1, the control unit 170 controls the reverse driving path ( RD1) is removed. And after the user manually travels backward in a certain section RD2 from the point P1, if the reverse driving assistance system is restarted at the point P2, the control unit 170 performs a new reverse operation at the position P2 at the restarted point. Automatic reverse driving is performed by re-creating the driving path RD3.

Referring to (b) of FIG. 3 , the control unit 170 stores the forward movement trajectory FD2 of the vehicle in an internal memory (not shown), and travels backward based on the stored forward movement trajectory FD2. When it is assumed that automatic reverse driving is performed by creating a route RD4, the user (or driver) temporarily intervenes in the reverse driving assistance system at point P3 and manually travels backward through a certain section RD5 from the point P3. Then, when the intervention into the reverse driving assistance system is stopped at the point P4, the control unit 170 re-enters the existing reverse driving path RD4 at the position P4 where the user's temporary intervention is stopped and continues Perform automatic reverse driving.

As described above, the present embodiment has the effect of improving the convenience of the driver by preventing the automatic steering control state from being canceled unlike the existing one, even if the driver temporarily intervenes in the automatic reverse driving, and furthermore, whenever the driver desires, the reverse driving assistance system It has the effect of improving the driver's convenience by forcibly canceling or restarting the system.

2 is a flowchart illustrating a method of controlling a reverse driving assistance system of a vehicle according to an embodiment of the present invention.

As shown in FIG. 2 , when the vehicle starts to travel forward, the control unit 170 stores the vehicle position (ie, forward movement trajectory) in the longitudinal/lateral direction of the vehicle in real time ( S101 ).

In this case, the control unit 170 may generate a reverse travel path based on the stored forward movement trajectory.

And when a situation occurs that the vehicle that has been traveling forward is no longer able to drive forward occurs, and the driver operates the operation switch unit 140 to reverse the vehicle (Yes in S102), the control unit 170 provides reverse driving assistance It is determined whether the system is in an operable operating condition (S103).

For example, when the driver (or user) commands automatic reverse control through the operation switch unit 140 , the controller 170 checks whether the current gear is in the reverse (R) state.

When the operating condition for the automatic reverse control is satisfied, the control unit 170 creates (or regenerates) a path for moving backward (ie, a reverse driving path) based on the stored forward movement trajectory (S104).

That is, when the vehicle moves forward, the vehicle operates by the front wheel steering system, and when the vehicle travels backward, it operates by the rear wheel steering system.

If the driver actually instructs automatic reverse control after creating (or regenerating) the route (i.e., the reverse driving path) as described above, the vehicle will perform reverse by a specified distance based on the path (i.e., the reverse driving path). It calculates the amount of backward movement by inversely calculating the path, and continuously performs reverse automatic steering control without special intervention from the driver.

However, if the driver intervenes during automatic reverse steering control (Yes in S105) (that is, when performing manual steering control during automatic steering control), the control unit 170 stops automatic reverse steering control and manually steers by the driver. Control is performed (S107).

Of course, when the driver does not intervene during the automatic reverse steering control (No in S105), the controller 170 continues to perform the automatic reverse steering control (S106).

At this time, the control unit 170 controls the original path during the automatic reverse steering control, during the reverse manual steering control by the driver's intervention, and when the manual steering control is stopped and the reverse automatic steering control is continuously performed again. (That is, the driving trajectory error is checked with respect to the reverse driving path) (S108).

That is, the control unit 170 calculates the route changed by the manual steering control by the driver (ie, the reverse driving path) and corrects the error, and then controls the automatic reverse steering along the original path (ie, the reverse driving path). carry out

However, even if the manual steering control is performed by the driver's intervention during the automatic reverse steering control as described above, steps S104 to S109 are repeatedly performed until the vehicle reaches the final target point by the automatic reverse steering control again, that is, the vehicle After correcting the driving trajectory error by comparing the vehicle position (i.e., the backward movement trajectory) in the longitudinal/lateral direction of do (S109).

As described above, in the present embodiment, unless the driver stops the operation of the rear driving assistance system, when the driver's intervention is stopped, the error is corrected and the reverse automatic steering control is performed along the original path (ie, the reverse driving path).

However, when the driver wants to stop the operation of the rear driving assistance system, that is, the control unit 170 checks the state of the vehicle (S110), and automatically controls the rear driving assistance system according to the state check result of the vehicle When the forced termination condition is satisfied (Yes in S111), the control unit 170 forcibly terminates the operation of the rear driving assistance system.

For example, when a release button (not shown) of the operation switch unit 140 is input, or when the vehicle is moved over a specified distance (eg, 20Cm) with the gear in the driving (D) state, the control unit ( 170) judges that the automatic control cancellation condition of the rear driving assistance system has been satisfied and does not perform reverse automatic steering control.

However, in this embodiment, even if the operation of the rear driving assistance system is stopped, when the driver inputs the operation button (not shown) of the operation switch unit 140, the control unit 170 is Automatic reverse driving can be performed by regenerating a new reverse driving route to the final target point.

As described above, in the present embodiment, even if the driver temporarily intervenes to change the driving in a situation in which the reverse driving assistance system is operating, the reverse driving route is stably recalculated thereafter so that the reverse automatic steering control can be continuously performed, and the driver It has the effect of improving the user's convenience by forcibly stopping and canceling the operation of the reverse driving assist system when desired, and allowing the automatic steering authority of the reverse driving assist system to be changed to manual steering.

As described above, the present invention has been described with reference to the embodiment shown in the drawings, but this is merely an example, and various modifications and equivalent other embodiments are possible therefrom by those skilled in the art. will understand the point. Therefore, the technical protection scope of the present invention should be defined by the following claims.

110: distance measuring unit 120: vehicle position detecting unit
130: rear monitoring unit 140: operation switch unit
150: warning output unit 160: steering unit
170: control unit

Claims (17)

a distance measuring unit detecting an obstacle in the driving direction of the vehicle and measuring a distance to the obstacle;
a vehicle position detection unit for detecting an absolute position of the vehicle;
an operation switch unit for forcibly canceling and restarting the reverse driving assistance system;
a steering unit for adjusting a steering direction of the steering wheel so that the vehicle travels backward along the first reverse travel path generated in advance by the control of the control unit; and
After the automatic reverse driving is started, the user temporarily intervenes in the reverse driving and manually manipulates the steering to cancel the automatic reverse driving, but when the user's intervention is terminated, the first reverse driving path is different from the first reverse driving path and the controller enters a second reverse driving path and continuously performs automatic reverse driving.
According to claim 1, wherein the control unit,
continuously monitoring the situation in which the user intervenes in automatic reverse driving;
If the user intervenes in the automatic reverse driving through the monitoring and the intervention is terminated, the second reverse driving path is entered from the remaining path except for the path the user intervened and moved in the planned initial path, and automatic reverse driving is performed. Reverse driving assistance system of a vehicle, characterized in that it continues to perform.
According to claim 1, wherein the control unit,
generating the first reverse driving path based on the trajectory of the vehicle moving forward;
The reverse driving assistance system of a vehicle, characterized in that the automatic reverse driving state is continuously maintained until the user forcibly cancels the reverse driving assistance system using the operation switch unit.
According to claim 3, wherein the control unit,
Even if the operation switch unit is not used, the reverse driving assistance system is automatically and forcibly canceled when a predetermined forced termination condition is met,
When the reverse driving assistance system is forcibly canceled, the previously created first reverse driving path is removed,
and, when the user restarts the reverse driving assistance system using the operation switch unit, the second reverse driving path is regenerated at the position at the restarted time point to automatically perform reverse driving.
5. The method of claim 4, wherein the pre-specified forced termination condition is:
A reverse driving assistance system for a vehicle, characterized in that it includes a condition in which the user changes the gear to 'D (driving)' and then moves more than a specified distance.
According to claim 1, wherein the control unit,
and generating the reverse driving path capable of traveling backward while avoiding obstacles detected through the distance measuring unit, the vehicle position detecting unit, and the rear monitoring unit.
According to claim 1, wherein the distance measuring unit,
At least one distance measuring sensor for measuring a distance,
A vehicle reverse driving assistance system comprising at least one of a laser scanner, a rear radar, and an ultrasonic sensor.
According to claim 1, wherein the vehicle position detection unit,
A reverse driving assistance system for a vehicle, characterized in that the current location of the vehicle is detected using at least one of a wireless communication network and GPS/GNSS.
According to claim 1, wherein the control unit,
A reverse driving assistance system for a vehicle, characterized in that at least one of a shift lever, an accelerator pedal, and a deceleration pedal can be automatically controlled.
The method of claim 1,
The system further comprises a rear monitoring unit for preventing a collision with a rear obstacle when the vehicle travels in reverse using at least one rear monitoring sensor.
generating, by the control unit, a first reverse driving path;
performing, by the control unit, reverse automatic steering control according to the amount of backward movement calculated by inversely calculating a path to be reversed by a specified distance based on the first reverse driving path when the operating condition for automatic reverse control is satisfied; and
During the automatic reverse steering control, when the user intervenes in the steering and performs manual steering control to stop the intervention after the automatic reverse control is released, the control unit checks the driving trajectory error for the first reverse driving path and makes an error and then performing automatic reverse steering control along a second reverse driving path that is different from the first reverse driving path after correcting.
12. The method of claim 11, wherein in order to perform the automatic reverse steering control along the second reverse driving path,
The control unit is
Even if the manual steering control is performed by the driver's intervention during the automatic reverse steering control, the driving trajectory error is reduced by comparing the rearward movement trajectory of the vehicle with the final target point until the vehicle reaches the final target point by the reverse automatic steering control again. After repeating the correction process, finally, automatic reverse steering control is performed along the second reverse driving path.
12. The method of claim 11, wherein during the step of performing the automatic reverse steering control,
Further comprising; checking the state of the vehicle by the control unit;
Reversing the vehicle according to claim 1, further comprising: when a condition for forcibly canceling the automatic control of the rear driving assistance system is satisfied according to a result of the vehicle status check, the control unit forcibly terminating the operation of the rear driving assistance system; Control method of driving assistance system.
The method according to claim 13, wherein the condition for forced termination of automatic control of the rear driving assistance system is:
When the release button of the operation switch unit is input, and
A control method of a reverse driving assistance system of a vehicle, comprising the case of moving the vehicle over a specified distance by using the gear as the driving state.
The method of claim 13, wherein when the operation of the rear driving assistance system is stopped,
reactivating, by the control unit, the rear driving assistance system when the user inputs the operation button of the operation switch unit; and
and performing automatic reverse driving by regenerating the second reverse driving route from the restarted position to the final target point.
The method of claim 11, wherein the control unit,
The method of controlling a reverse driving assistance system of a vehicle, characterized in that the first reverse driving path can be generated based on a pre-stored forward movement trajectory.
The method of claim 11, wherein the operating conditions for the automatic reverse control are:
A method of controlling a reverse driving assistance system of a vehicle, comprising a condition in which a user commands automatic reverse control through an operation switch unit and the current gear is in a reverse (R) state.

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