KR102535618B1 - Driver assistance system for detecting obstacle using fusion object sensing information and method thereof - Google Patents

Abstract

When performing situation recognition processing around the vehicle using convergence type sensing information, first object detection information is generated by detecting objects around the vehicle through preset first sensing, and objects around the vehicle are detected through second sensing that is different from the first sensing. to generate second object detection information, and based on the location information included in the first and second object detection information, an object detected by one of the two or more sensor units and not detected by the other one is determined, and the determination is made. Convergence-type detection information is set according to the result of the convergence-type detection information, and situational awareness processing is performed to determine the degree of risk for the detected object based on the convergence-type detection information, and a warning is output according to the degree of risk, but if the determined object is not detected Convergence type detection information is set based on at least one rediscovered object detection information rediscovered as a result of transmitting the information on the determined object to the sensor unit.

Description

Driver assistance system and method using converged object detection information

The present invention relates to a driver assistance system provided in a vehicle to detect an obstacle around the vehicle and to recognize a surrounding situation using the detected obstacle detection information, and a method therefor.

An advanced driver assisted system (ADAS) is used as a driver assistance system installed in a vehicle. These ADAS basically have a function of detecting objects (i.e., vehicles or pedestrians) around the vehicle, and services provided using ADAS include Automatic Emergency Break (AEB) or rear/side warning system. (Blind Spot Detection, BSD).

Meanwhile, the driver assistance system performs an object detection function using various sensor devices such as a radar device, a vision device, and a Light Detection And Ranging (LiDAR) device. Specifically, the driver assistance system uses a radar device or a camera device to detect surrounding vehicles and pedestrians even when the driver is not aware of it, and accordingly determines the risk of an accident. In this case, when the risk of an accident increases, the driver assistance system provides a warning signal to the driver or controls a brake device or a steering device to prevent an accident such as a collision.

In this regard, Korean Patent Publication No. 10-2014-0136165 (title of invention: vehicle radar device and target detection method using the same) is for removing an interference signal included in a vehicle radar received signal, and transmits a radar signal A vehicle radar signal transmitter for transmitting, a vehicle radar signal receiver for receiving a signal in which the transmitted vehicle radar signal is reflected by a target, an interference signal detector for detecting the presence or absence of an interference signal by comparing the received vehicle radar signal with a pre-stored interference characteristic, Vehicle radar device and target detection including a vehicle radar signal restoration unit that removes the detected interference signal and restores the original signal, and a target detection unit that detects the target based on the transmitted vehicle radar signal and the restored vehicle radar signal method is initiated.

As such, in conventional driver assistance systems, an object detection method based on a single sensor device has been common. The object detection information sensed by one sensor device is received and processed by the control device to determine the danger of a situation around the vehicle. In addition, the control device notifies the driver of the dangerous situation through a warning device when the risk level is higher than a certain level.

However, among sensor devices used in driver assistance systems, radar devices have the advantage of being able to detect long-distance objects and having robustness to environmental factors, but have limitations in that they cannot identify objects. In addition, a vision device using a camera can identify an object, but has a disadvantage in that reliability cannot be guaranteed due to a large difference in performance depending on environmental factors. In order to overcome the disadvantages of configuring the sensor device as a single device in such a driver assistance system, a converged driver assistance system having two or more sensor devices has recently been developed.

In a driver assistance system having such a plurality of sensor devices, detection information from a radar device is provided to a vision device, and an object is identified by the vision device based on the radar sensing information.

In this regard, Korean Patent Publication No. 10-2007-0067241 (title of invention: sensor system having a radar sensor and a vision sensor) is a sensor system for detecting a vehicle collision, transported by a vehicle, and A radar sensor that provides a radar output value based on a plurality of radar measurement values including a radar approach speed of an object and a radar range measurement value; a vision sensor that provides a vision output based on a plurality of vision measurements, including; and an electronic control that receives radar and vision outputs and generates deployment signals for safety devices that rely on evaluation of the radar and vision outputs. A sensor system comprising a module is disclosed.

However, such a convergence driver assistance system has a problem in that overall reliability is deteriorated because a case may occur in which one sensor device (eg, a radar device) cannot re-search for missing sensing information. In addition, existing driver assistance systems have limitations in that they take a lot of time to process sensing information from a plurality of sensor devices or have low sensing performance and reliability. Accordingly, there is a need for a driver assistance system capable of guaranteeing improved performance and reliability by improving the converged sensing method.

An embodiment of the present invention is a driver assistance system using converged object detection information capable of supporting safe driving by recognizing a surrounding situation of a vehicle using convergence object detection information obtained by converging sensing information of two or more vehicle sensor devices. And to provide a method.

However, the technical problem to be achieved by the present embodiment is not limited to the technical problem as described above, and other technical problems may exist.

As a technical means for achieving the above technical problem, a driver assistance system provided in a vehicle according to an aspect of the present invention detects an object around the vehicle through a preset first sensing and generates first object detection information. a first sensor unit to; a second sensor unit generating second object detection information by sensing an object around the vehicle through second sensing different from the first sensing; Obtains the first and second object detection information, and based on the location information included in the first and second object detection information, a sensor that is detected by one of the first and second sensor units and not detected by the other sensor unit is detected. a sensing information fusion unit that determines an object and sets fusion-type sensing information according to a result of the discrimination; and a vehicle control unit that performs context-awareness processing for determining a degree of danger for the sensed object based on the convergence-type detection information, and outputs a warning according to whether or not the danger occurs and the degree of danger, wherein the detection information is fused. The unit transmits information on the determined object to a sensor unit in which the determined object is not detected, and detects an object redetected from at least one of the first sensor unit and the second sensor unit in response to the information on the determined object. Sensing information is received, and the fusion type sensing information is set based on the redetected object sensing information.

According to any one of the above-described problem solving means of the present invention, processing speed, sensing performance, and reliability can be greatly improved during object sensing processing for recognizing surrounding conditions of a vehicle. If this converged object detection function is applied to autonomous vehicles, etc., it is possible to support safe driving with improved performance.

1 is a block diagram showing the configuration of a device according to an embodiment of the present invention.
2 is a diagram for explaining a converged sensing method for a vehicle according to an embodiment of the present invention.
FIG. 3 is a data flow diagram illustrating a method for recognizing a situation around a vehicle using converged object detection information according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice the present invention with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted.

Throughout the specification, when a part is said to "include" a certain component, it means that it may further include other components, not excluding other components, unless otherwise stated, and one or the other components may be included. It should be understood that the above does not preclude the possibility of existence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

In this specification, 'unit' includes a unit realized by hardware or software, or a unit realized using both, and one unit may be realized using two or more hardware, and two or more units may be implemented. The above units may be realized by one piece of hardware.

Hereinafter, a converged object sensing device and method according to an embodiment of the present invention will be described in detail with reference to the drawings.

1 is a configuration diagram of a driver assistance system according to an embodiment of the present invention. And FIG. 2 is a diagram for explaining a converged sensing method for a vehicle according to an embodiment of the present invention.

As shown in FIG. 1 , the driver assistance system 100 according to an embodiment of the present invention includes a first sensor unit 110, a second sensor unit 120, a sensing information fusion unit 130, and a vehicle controller ( 140) and a warning providing unit 150.

Each sensor in the device can have a different sensing area, but in the convergence type device, it includes a common area, and it means that the convergence type sensing function is performed in the common area. In addition, each sensor can use different reference coordinates to express the location information of the detected object, but usually, a calibration process is performed to set and utilize a coordinate converter, and in expressing the location of an object, based on the coordinate system of the own vehicle do. In this patent, the description of this process is omitted.

The driver assistance system 100 according to an embodiment of the present invention recognizes and processes surrounding conditions of the vehicle based on convergence type object detection information obtained by converging object detection information sensed from two or more sensor devices provided in the vehicle. At this time, FIG. 1 shows that the driver assistance system 100 according to an embodiment of the present invention includes a first sensor unit 110 and a second sensor unit 120 as a plurality of sensor devices, and these sensors The number and type of devices are not limited. That is, the sensor devices included in the driver assistance system 100 are various sensor devices that can be used in a vehicle, and include a vision device using a camera, a radar device using radar, a Lidar device using laser radar, and ultrasonic waves. A used ultrasonic device and the like may be included.

Hereinafter, it will be described that the driver assistance system 100 includes the radar device 110 as the first sensor unit 110 and the vision device 120 as the second sensor unit 120 . In addition, the driver assistance system 100 may use various combinations of two or more sensor devices, such as a lidar device, a vision device, a lidar device, and a radar device, and the combination of sensor devices may include three or more types of sensor devices. there is.

The first sensor unit 110 includes a radar 111 and a radar control unit 112 .

The radar 111 scans the surroundings of the vehicle under the control of the radar control unit 112, and the radar control unit 112 processes the information sensed through the radar 111 to generate object detection information and fuses the detected information. It is transmitted in real time to the unit 130.

At this time, the first sensor unit 110 may inspect whether or not there is an object around the vehicle according to a predetermined period T1 and transmit sensing information of the detected object to the sensing information fusion unit 130 . For reference, the first sensor unit 110 may perform a sensing operation for the surroundings of the vehicle in real time.

The second sensor unit 120 includes a camera 121 and a vision controller 122 .

The camera 121 captures the surroundings of the vehicle in real time under the control of the vision controller 122 . The vision control unit 122 detects an object through image signal processing of a video (image) taken by the camera 121, generates object detection information according to the image, and transmits it to the detection information convergence unit 130 in real time. In addition, the vision control unit 122 may detect an object by distinguishing a background from a still or moving object, or may generate object detection information by detecting a main object in the background through image signal processing in a set manner for a captured image. .

The object detection information sensed through the first and second sensor units 110 and 120 includes the location (eg, coordinate information) of the detected object, distance from the vehicle (or sensor), size, angle, mobility, and received signal sensitivity. etc. may be included.

The sensing information fusion unit 130 fuses the received object sensing information of different types to generate fusion type sensing information. In this case, the sensing information convergence unit 130 may receive object sensing information from the first and second sensor units 110 and 120, respectively, but receive the two object sensing information synchronously or asynchronously. Specifically, the sensing information fusion unit 130 stores the received object sensing information. In this case, the sensing information convergence unit 130 may match and store the object sensing information received from each sensor unit 110 and 120 based on time or location. For example, the sensing information convergence unit 130 is an object of the two sensor units such that the number of times of the sensing period T1 of the first sensor unit 110 and the number of times of the sensing period T1 of the second sensor unit 120 correspond to each other. Sensing information can be stored.

Then, the sensing information convergence unit 130 generates fusion sensing information based on the sensing information. Here, the fusion-type object detection information includes detection information on an object commonly detected through all sensor units and detection information on an object detected again through another sensor unit after being detected only through at least one sensor unit.

In this way, in order to compare objects sensed by each of the plurality of sensor units, the sensing information fusion unit 130 performs fusion processing based on reference area information included for each object sensing information.

When different coordinates exist among the reference coordinates of the first sensor unit 110, the reference coordinates of the second sensor unit 120, and the reference coordinates of the vehicle, the sensing information fusion unit 130 may first and second sensor units ( Position information included in the object detection information by 110 and 120) may be coordinate converted based on other reference coordinates. For example, the sensing information convergence unit 130 may convert reference coordinates of at least one of the first and second sensor units 110 and 120 to correspond to the reference coordinates of the vehicle to match the reference area information.

Hereinafter, for convenience of description, object detection information sensed through the first sensor unit 110 will be referred to as radar detection information, and object detection information sensed through the second sensor unit 120 will be referred to as vision detection information. .

The detection information convergence unit 130 sets information A on the object determined to be the same object using the location information of the object included in the radar detection information and the vision detection information, and transmits it to the vehicle control unit 140. Specifically, the sensing information fusion unit 130 detects the object "RnV_object" shown in FIG. 2 and transmits information A about it to the vehicle control unit 140. In this case, the object "RnV_object" means an object sensed by both the first sensor unit 110 and the second sensor unit 120.

In addition, the sensing information convergence unit 130 uses the positional information of an object included in the radar sensing information and the vision sensing information to sense the sensing information (eg, vision sensing information) of one sensor unit but detect another sensor unit. Information (eg, radar detection information) is an object that is not included, but information B for an object existing within a detection reference area of the other sensor unit is set and transmitted to the other sensor unit. That is, the sensing information convergence unit 130 detects objects detected through the second sensor unit 120 but not detected by the first sensor unit 110, which exist in the reference area of the first sensor unit 110. Information is transmitted to the first sensor unit 110 . Specifically, the sensing information fusion unit 130 detects the object “!RnV_object” shown in FIG. 2 and transmits information B about it to the sensor unit that has not detected the object. At this time, the object “!RnV” means an object not detected by the first sensor unit 110 but detected by the second sensor unit 120.

Accordingly, the first sensor unit 110 reexamines and determines whether an object is present at the corresponding location using the location information included in the information B. This re-inspection may use raw data of an existing radar, or may use raw data acquired by performing a new radar full scan. In addition, it is also possible to use raw data obtained by separately performing a radar beamforming scan corresponding to a corresponding location. As such, the first sensor unit 110 generates additional object detection information and transmits it to the detection information convergence unit 130 when an object is detected as a result of the re-examination using the information B.

On the other hand, the opposite case can also be processed. That is, the sensing information convergence unit 130 uses the position information of the object included in the radar sensing information and the vision sensing information, so that the sensing information included in the sensing information (ie, radar sensing information) of the first sensor unit 110 does not 2 By setting information C on an object that is not included in the detection information (ie, vision detection information) of the sensor unit 120 but existing within the detection reference area of the second sensor unit 120, the second sensor unit ( 120) is provided. Specifically, the sensing information fusion unit 130 detects the object “Rn!V_object” shown in FIG. 2 and transmits information C about the object to the sensor unit that does not detect the object. At this time, the object "Rn!V_object" means an object detected by the first sensor unit 110 but not detected by the second sensor unit 120.

Accordingly, the second sensor unit 120 reexamines and determines whether an object is present at the corresponding location using the location information included in the information C. This re-examination may use raw data of an image (eg, a captured image) captured by an existing camera, or may use raw data of an image newly captured through a camera. In addition, when using existing raw data or newly photographing with a camera, raw data obtained by changing various photographing techniques (exposure change, etc.) and image processing technique may be used. As such, the first sensor unit 120 generates additional object detection information and transmits it to the detection information convergence unit 130 when an object is detected as a result of the re-examination using the information C.

Accordingly, when there is newly added sensing information from the first and second sensor units 110 and 120, the sensing information convergence unit 130 sets information D and transmits it to the vehicle control unit 140.

Through this process, mutually complementary object detection is possible between sensor units, reliability of detection information can be increased, and object detection can be performed more quickly than when object detection is performed by any one sensor unit.

The vehicle control unit 140 analyzes the convergence type object detection information received from the sensing information convergence unit 130 and performs context awareness processing to determine the degree of risk. Further, the vehicle control unit 140 controls the warning providing unit 150 to provide a warning according to the level of danger when the level of danger is higher than a predetermined level as a result of the determination.

At this time, the vehicle control unit 140 based on each parameter (eg, the position of the object, the distance to the vehicle (or sensor), size, angle, mobility, received signal sensitivity, etc.) included in the received object detection information The degree of risk can be determined.

In addition, the vehicle control unit 140 may determine the degree of danger by additionally using information such as the speed and steering angle of the host vehicle.

The warning providing unit 150 outputs warning information so that the driver can recognize the warning situation and the information according to the control of the vehicle control unit 140 . At this time, the warning providing unit 150 may output warning information through an in-vehicle user interface, HMI (Human Machine Interface).

The warning providing unit 150 may include a function of controlling the vehicle without driver intervention through a brake or a steering device under the control of the vehicle control unit 140.

Meanwhile, the driver assistance system 100 according to an embodiment of the present invention described above may be implemented in a form including various sensor devices, a memory (not shown), and a processor (not shown).

That is, a memory (not shown) stores a program including a series of operations and algorithms for processing vehicle surrounding situation recognition and dangerous situation warning using the convergence type object detection information described above. At this time, the program stored in the memory (not shown) is a program in which all operations processed by each component of the driver assistance system 100 described above with reference to FIG. 1 are implemented as one program, or a plurality of programs that separately process operations for each component. may be interlocking with each other. A processor (not shown) executes a program stored in a memory (not shown). As the processor (not shown) executes the program, operations and algorithms processed by each component of the driver assistance system 100 described above may be performed. For reference, components of the driver assistance system 100 may be implemented in the form of software or hardware such as a Field Programmable Gate Array (FPGA) or Application Specific Integrated Circuit (ASIC), and may perform predetermined roles. However, 'components' are not meant to be limited to software or hardware, and each component may be configured to be in an addressable storage medium or configured to reproduce one or more processors. Thus, as an example, a component includes components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, procedures, sub routines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays and variables. Components and the functionality provided within them may be combined into fewer components or further separated into additional components.

Hereinafter, with reference to FIG. 3 , a converged object detection through the driver assistance system 100 according to an embodiment of the present invention and a method for recognizing a situation around a vehicle using the same will be described.

FIG. 3 is a data flow diagram illustrating a method for recognizing a situation around a vehicle using converged object detection information according to an embodiment of the present invention.

First, the sensing information fusion unit 130 receives object sensing information from two or more sensor units 110 and 120 (S301 and S302).

For example, the object detection information may be object detection information detected through a radar sensor unit and a vision sensor unit, and may be generated at intervals set for each sensor unit or in real time. Also, the time at which object detection information is received from each sensor unit to the sensing government fusion unit 130 may be synchronous or asynchronous.

Then, the sensing information fusion unit 130 coordinates transforms each object sensing information to correspond to a common reference area by using the reference area information included in the received object sensing information (S303).

Then, the detection information convergence unit 130 includes information about the same object detected in each object detection information within a common reference area (ie, information A) and information about an object detected only in one object detection information. (ie, information B and C) is set (S304).

Then, the detection information fusion unit 130 transmits information on the same detected object to the vehicle control unit 140 (S305), and information on the object detected by only one sensor unit does not detect the corresponding object. It is transmitted to the unrecognized sensor unit (S306, S307).

At this time, the step of transmitting the information on the same detected object to the control unit 140 (S305) can be processed immediately after the corresponding information is set, or in the process of transmitting the information D after step S312 is finished can be sent together. In addition, the steps (S306 and S307) of transmitting information on an undetected object to any one sensor unit may occur only when there is a sensor unit that does not detect the corresponding object, and accordingly, the steps (S306 and S307) ) At least one step of may be omitted.

In Fig. 3, it is assumed that both of the steps S306 and S307 have occurred.

Accordingly, the first sensor unit 110 and the second sensor unit 120 respectively perform object re-detection processing based on the received information on the "undetected object" (ie, information B and C). Do (S308, S309).

For reference, the steps S306 and S307 and the steps S308 and S309 may be processed in parallel, respectively, and the processing order is not fixed.

Next, the first sensor unit 110 and the second sensor unit 120 respectively transmit the resensed object detection information to the detection information convergence unit 130 (S310 and S311).

Then, the sensing information convergence unit 130 sets fusion-type sensing information (ie, information D) according to the rediscovered object sensing information received from at least one of the two sensor units (S312), and detects the rediscovered object. Information is transmitted to the vehicle control unit 140 (S313).

Through the above steps, fusion detection information obtained by converging object detection information sensed by each sensor unit is transmitted to the vehicle control unit 140 . Accordingly, the vehicle control unit 140 determines the degree of risk of the moving vehicle based on the object detection information through a predetermined determination process. In addition, the vehicle control unit 140 transmits information according to the result of the determination to the warning providing unit 150 so as to warn the driver of the occurrence of danger and the information according to the situation around the vehicle or to control the vehicle.

The method for recognizing situations around the vehicle using convergence object detection information through the driver assistance system 100 according to an embodiment of the present invention described above is a computer program stored in a medium executed by a computer or instructions executable by the computer. It may also be implemented in the form of a recording medium including. Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. Also, computer readable media may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transport mechanism, and includes any information delivery media.

Although the methods and systems of the present invention have been described with reference to specific embodiments, some or all of their components or operations may be implemented using a computer system having a general-purpose hardware architecture.

The above description of the present invention is for illustrative purposes, and those skilled in the art can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be construed as being included in the scope of the present invention. do.

100: driver assistance system
110: first sensor unit
120: second sensor unit
130: sensing information fusion unit
140: vehicle control unit
150: warning providing unit

Claims (10)

a first sensor unit generating first object detection information by sensing an object around the vehicle through first sensing;
a second sensor unit generating second object detection information by sensing an object around the vehicle through the second sensing;
Based on the location information included in the first and second object detection information, the information on the object sensed identically by the first and second sensor units is fused with the information on the object sensed by only one sensor unit. a sensing information fusion unit generating fusion sensing information; and
Including a vehicle control unit that performs situational awareness processing for determining the degree of danger of the sensed object based on the fusion detection information, and controls to output a warning according to whether or not danger occurs and the degree of danger,
The detection information convergence unit transmits information on an object detected identically by the first and second sensor units to the vehicle control unit, and transmits information on an object detected by only one sensor unit among the first and second sensor units. It is configured to transmit the object to a sensor unit that does not detect the object,
When the first sensor unit and the second sensor unit receive information on an object detected by only one of the first and second sensor units from the sensing information fusion unit, object information that the corresponding sensor unit does not detect is obtained. configured to re-detect and generate additional sensing information and transmit it to the sensing information fusion unit;
The driver assistance system using fusion-type object detection information, characterized in that the detection information fusion unit is further configured to receive additional detection information from the first and second sensor units and transmit it to the vehicle control unit. The method of claim 1, wherein the sensing information fusion unit
A driver assistance system using fusion-type object detection information configured to perform fusion processing based on reference region information included for each object detection information in order to fuse the objects sensed by the first and second sensor units, respectively. delete delete The method of claim 1, wherein the vehicle control unit
Based on at least one parameter of the position, distance, size, angle, mobility, received signal sensitivity, vehicle speed, and steering angle of an object included in the object detection information received from the detection information fusion unit, configured to determine the degree of risk , Driver assistance system using converged object detection information. A first sensing step of generating first object detection information by a first sensor unit that detects an object around the vehicle;
a second sensing step of generating second object detection information by a second sensor unit that detects an object around the vehicle;
The sensing information convergence unit provides information on the object sensed identically in the first and second sensing steps based on the location information included in the first and second object sensing information and the object sensed in only one sensing step. a sensing information fusion step of generating fusion sensing information by fusing information about the information; and
A vehicle control step in which the vehicle control unit performs situational awareness processing to determine the degree of danger of the sensed object based on the fusion detection information, and outputs a warning according to whether or not danger occurs and the degree of danger,
In the detection information fusion step, the detection information fusion unit transmits information on the same object detected in the first and second sensing steps to the vehicle control unit, and only one sensor unit among the first and second sensor units Further comprising transmitting information about the sensed object to a sensor unit that does not detect the object,
In the first sensing step and the second sensing step, when information on an object detected by only one of the first and second sensor units is received from the sensing information convergence unit, object information not detected by the corresponding sensor unit is obtained. Further comprising re-detecting and generating additional sensing information and transmitting it to the sensing information fusion unit,
The sensing information fusion step further comprises the sensing information fusion unit receiving additional sensing information from the first and second sensor units and transmitting it to the vehicle control unit. Driver assistance method. The method of claim 6, wherein the sensing information fusion step
A driver assistance method using fusion-type object detection information comprising performing a fusion process based on reference region information included for each object detection information in order to fuse the objects sensed from the first and second sensing steps, respectively. delete delete The method of claim 6, wherein the vehicle control step
Determining the risk based on at least one parameter of the position, distance, size, angle, mobility, received signal sensitivity, vehicle speed, and steering angle of the object included in the object detection information received from the detection information fusion step A driver assistance method using fusion type object detection information.

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