KR20220078833A - Driver assistance system, and control method for the same - Google Patents

Abstract

The disclosed driver assistance system includes: a camera disposed in a vehicle to have a field of view of the vehicle and acquiring image data; and a control unit including a processor for processing the image data obtained by the camera; wherein the control unit identifies a lane, an edge of a road structure, and a speed mark based on the image data, the lane and the road A driving road of the vehicle may be determined at a junction divided into an upper road and a lower road based on the edge of the structure, and when the speed sign is located on the driving road, the speed of the vehicle may be adjusted based on the speed sign.

Description

DRIVER ASSISTANCE SYSTEM, AND CONTROL METHOD FOR THE SAME

It relates to a driver assistance system and a method for controlling the same.

A driver assistance system is a device that performs various functions to assist a driver when driving a vehicle. For example, the driver assistance system may control the speed of the vehicle according to the driving road.

However, in the case of the prior art, there is a problem of erroneously determining the driving road at a junction where an overpass or an underground road exists. In addition, when there is a speed sign, there is a problem in that the speed of the vehicle is controlled by recognizing even a speed sign irrelevant to the driving road.

The disclosed invention provides a driver assistance system capable of accurately determining a driving road of a vehicle at a junction divided into an upper road and a lower road, such as a junction where an overpass or an underground road exists, and a method for controlling the same.

In addition, the disclosed invention provides a driver assistance system capable of determining whether a speed sign is related to a driving road of a vehicle at a junction divided into an upper road and a lower road, and a method for controlling the same.

As a technical means for achieving the above technical problem, a driver assistance system according to an embodiment includes a camera disposed in a vehicle to have a field of view in front of the vehicle, and acquiring image data; and a control unit including a processor for processing image data obtained by the camera; wherein the control unit identifies a lane, an edge of a road structure, and a speed mark based on the image data, and identifies the lane and the road structure A driving road of the vehicle may be determined at a junction divided into an upper road and a lower road based on the edge of , and when the speed indicator is located on the driving road, the speed of the vehicle may be adjusted based on the speed indicator.

The control unit calculates a lane vector based on the lane, calculates a structure vector based on the edge of the road structure, and compares the slope of the lane vector with the slope of the structure vector to determine the driving road of the vehicle. can

The controller determines the upper road as the driving road when the slope of the lane vector is greater than or equal to the slope of the structure vector, and determines the lower road as the driving road when the slope of the lane vector is smaller than the slope of the structure vector have.

The controller may calculate a vanishing point based on the lane and determine whether the speed mark is located on the driving road based on a distance from the vanishing point to the speed mark.

When the distance from the vanishing point to the speed sign is less than or equal to a predetermined reference distance, the controller may determine that the speed sign is located on the driving road.

The driver assistance system according to an embodiment further includes an Audio Video Navigation (AVN) device, wherein the controller controls the AVN device to display speed limit information included in the speed indicator, and based on the speed limit information Thus, the speed of the vehicle can be adjusted.

A method of controlling a driver assistance system comprising: a camera disposed in a vehicle to have a field of view of the vehicle to obtain image data; and a processor for processing the image data, the driver assistance system according to an embodiment The control method may include: identifying a lane, an edge of a road structure, and a speed mark based on the image data; determining a driving road of the vehicle at a junction divided into an upper road and a lower road based on the lane and the edge of the road structure; and adjusting the speed of the vehicle based on the speed sign when the speed sign is located on the driving road.

The determining of the driving road of the vehicle may include calculating a lane vector based on the lane; calculating a structure vector based on the edge of the road structure; and determining the driving road of the vehicle by comparing the slope of the lane vector with the slope of the structure vector.

The determining of the driving road of the vehicle may include determining the upper road as the driving road when the slope of the lane vector is equal to or greater than the slope of the structure vector; and determining the lower road as the driving road when the slope of the lane vector is smaller than the slope of the structure vector.

A method of controlling a driver assistance system according to an embodiment may include: calculating a vanishing point based on the lane; and determining whether the speed marker is located on the driving road based on a distance from the vanishing point to the speed marker.

Determining whether the speed marker is located on the driving road may include: determining that the speed marker is located on the driving road when a distance from the vanishing point to the speed marker is less than or equal to a predetermined reference distance; may include

A method of controlling a driver assistance system according to an embodiment further includes controlling an AVN (Audio Video Navigation) device of the vehicle to display speed limit information included in the speed indicator, further comprising: The adjusting may include adjusting the speed of the vehicle based on the speed limit information.

The disclosed driver assistance system and its control method can accurately determine the driving road of the vehicle at a junction divided into an upper road and a lower road, such as a junction where an overpass or an underground road exists.

In addition, the disclosed driver assistance system and its control method may determine whether the speed sign is related to the driving road of the vehicle at a junction divided into an upper road and a lower road.

1 illustrates a configuration of a vehicle according to an embodiment.
2 illustrates a configuration of a driver assistance system according to an exemplary embodiment.
3 illustrates a camera and a radar included in a driver assistance system according to an exemplary embodiment.
4 illustrates a junction where an overpass exists as an example of a junction divided into an upper road and a lower road.
5 illustrates a case in which an upper road is determined as a driving road of a vehicle.
6 illustrates a case in which the lower road is determined as the driving road of the vehicle.
7 is a flowchart illustrating a method of controlling a driver assistance system according to an exemplary embodiment.
8 is a flowchart illustrating a method of determining whether a speed mark is located on a driving road.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the present invention pertains or content overlapping between the embodiments is omitted. The term 'part, module, member, block' used in this specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, member, block' may be implemented as one component, It is also possible for one 'part, module, member, block' to include a plurality of components.

Throughout the specification, when a part is "connected" to another part, it includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Also, when a part "includes" a component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Terms such as first, second, etc. are used to distinguish one component from another, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step, and each step may be performed differently from the specified order unless the specific order is clearly stated in the context. have.

Hereinafter, the working principle and embodiments of the present invention will be described with reference to the accompanying drawings.

1 shows a configuration of a vehicle according to an embodiment. 2 illustrates a configuration of a driver assistance system according to an exemplary embodiment.

Referring to FIG. 1 , a vehicle 1 includes an engine 10 , a transmission 20 , a braking device 30 , and a steering device 40 . The engine 10 includes a cylinder and a piston, and may generate power for driving the vehicle 1 . The transmission 20 includes a plurality of gears, and may transmit power generated by the engine 10 to the wheels. The braking device 30 may decelerate the vehicle 1 or stop the vehicle 1 through friction with the wheel. The steering device 40 may change the driving direction of the vehicle 1 .

The vehicle 1 may include a plurality of electrical components. For example, the vehicle 1 includes an Engine Management System (EMS) 11 , a Transmission Control Unit (TCU) 21 , and an Electronic Brake Control Module 31 . , Electronic Power Steering (EPS) (41), Body Control Module (BCM) (51), Audio Video Navigation (AVN) device (60) and Driver Assistance System (DAS) (100) may be included.

The engine management system 11 may control the engine 10 in response to a driver's will to accelerate through an accelerator pedal or a request from the driver assistance system 100 . For example, the engine management system 11 may control the torque of the engine 10 .

The transmission control unit 21 may control the transmission 20 in response to the driver's shift command through the shift lever and/or the driving speed of the vehicle 1 . For example, the transmission control unit 21 may adjust a shift ratio from the engine 10 to the wheel.

When the vehicle 1 is an electric vehicle, the engine 10 , the transmission 20 , the engine management system 11 , and the transmission control unit 21 may be excluded from the components of the vehicle 1 .

The electronic brake control module 31 may control the brake device 30 in response to the driver's will to brake through the brake pedal and/or slip of the wheels. For example, the electronic brake control module 31 may temporarily release the brake of the wheel in response to the slip of the wheel detected when the vehicle 1 is braked (Anti-lock Braking Systems, ABS). The electronic brake control module 31 may selectively release braking of the wheel in response to oversteering and/or understeering sensed when the vehicle 1 is steered (Electronic stability control, ESC). ). In addition, the electronic brake control module 31 may temporarily brake the wheel in response to the slip of the wheel detected when the vehicle 1 is driven (Traction Control System, TCS).

The electronic steering device 41 may assist the operation of the steering device 40 so that the driver can easily manipulate the steering wheel in response to the driver's will to steer through the steering wheel. For example, the electronic steering device 41 may assist the operation of the steering device 40 to decrease the steering force during low-speed driving or parking and increase the steering force for high-speed driving.

The body control module 51 may control the operation of electrical components that provide convenience to the driver or guarantee the driver's safety. For example, the body control module 51 may control a head lamp, a wiper, a cluster, a multi-function switch, and a direction indicator lamp.

The AVN device 60 may be provided in the center fascia of the vehicle 1 . The AVN device 60 may include a display and an audio device. Also, it may be understood that the speaker installed on the dashboard and the door of the vehicle 1 is included in the AVN device 60 . The display may output a screen, and the audio device may output a sound. The display may display a graphic user interface (GUI) that can interact with the user.

The display of the AVN device 60 may be a Light Emitting Diode (LED) panel, an Organic Light Emitting Diode (OLED) panel, or a Liquid Crystal Display (Liquid Crystal Display) panel.

The AVN device 60 may include various input buttons. Also, the display of the AVN device 60 may include a touch panel. The AVN device 60 may execute various functions based on a user command input through an input button or a touch panel. For example, the AVN device 60 may perform a navigation function, a DMB function, an audio function, and/or a video function.

In addition, the AVN device 60 reduces detection errors for traffic signals and speed limit information when implementing a Traffic Sign Recognition (TSR) or Speed Limit Information Function (SLIF) and decelerating the vehicle. can be effectively used to control

The driver assistance system 100 may assist the driver to operate (drive, brake, and steer) the vehicle 1 . For example, the driver assistance system 100 detects the environment around the vehicle 1 (eg, other vehicles, pedestrians, cyclists, lanes, road signs, etc.) and responds to the sensed environment to the vehicle (1) can control driving and/or braking and/or steering.

The driver assistance system 100 may provide various assistance functions. For example, the driver assistance system 100 may include a Lane Departure Warning (LDW) system, a Lane Keeping Assist (LKA), a Lane Following Assist (LFA), and a High Beam Assist (High Beam) system. Assist (HBA), Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC) and/or Blind Spot Detection (BSD) function can be provided. Each of these functions may be implemented as a separate system.

The above electronic components may communicate with each other through the vehicle communication network NT. For example, electronic components transmit data through Ethernet, MOST (Media Oriented Systems Transport), Flexray, CAN (Controller Area Network), and LIN (Local Interconnect Network). can give and receive For example, the driver assistance system 100 provides a drive control signal, a brake signal and a steering signal to the engine management system 11 , the electronic brake control module 31 , and the electronic steering device 41 through the vehicle communication network NT, respectively. signal can be transmitted.

Referring to FIG. 2 , the driver assistance system 100 may include a camera 110 , a front radar 120 , a corner radar 130 , a speed sensor 140 , and a controller 200 . The camera 110 , the front radar 120 , the corner radar 130 , and the speed sensor 140 may be electrically connected to the controller 200 . Also, the controller 200 may control the steering device 40 , the AVN device 60 , and the driver assistance system 100 . In addition, other electronic devices of the vehicle 1 may be electrically connected to the controller 200 .

Each of the camera 110 , the front radar 120 , the corner radar 130 , and the speed sensor 140 may include an electronic control unit (ECU). The controller 200 may be implemented as an integrated controller including a controller of the camera 110 , a controller of the front radar 120 , a controller of the corner radar 130 , and a controller of the speed sensor 140 .

The camera 110 may photograph the front of the vehicle 1 and identify other vehicles, pedestrians, cyclists, lanes, road structures, road signs, and the like. The camera 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes that convert light into an electrical signal, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

The camera 110 may be electrically connected to the controller 200 . For example, the camera 110 is connected to the control unit 200 through the vehicle communication network NT, connected to the control unit 200 through a hard wire, or a printed circuit board (PCB). ) may be connected to the control unit 200 . The camera 110 may transmit image data in front of the vehicle 1 to the controller 200 .

The front radar 120 and the corner radar 130 may acquire the relative position, relative speed, etc. of an object (eg, another vehicle, a pedestrian, a cyclist, etc.) around the vehicle 1 . The front radar 120 and the corner radar 130 may be connected to the control unit 200 through a vehicle communication network NT or a hard wire or a printed circuit board. The front radar 120 and the corner radar 130 may transmit radar data to the controller 200 . These radars may be implemented as Lidar.

The speed sensor 140 may obtain speed data of the vehicle 1 . The speed sensor 140 may detect the speed of the wheel. Also, the speed sensor 140 may include an acceleration sensor that detects a lateral acceleration and a longitudinal acceleration of the vehicle.

The vehicle 1 may also be provided with other sensors. For example, the vehicle 1 may include a yaw rate sensor that detects a change in angular velocity, a gyro sensor that detects the inclination of the vehicle, and/or a steering angle sensor that detects rotation and steering angle of a steering wheel.

The controller 200 may include a processor 210 and a memory 220 . Also, the controller 200 may include one or more processors 210 . One or more processors 210 included in the control unit 200 may be integrated into one control circuit or may be physically separated. In addition, the processor 210 and the memory 220 may be implemented as a single chip.

The processor 210 may process image data of the camera 110 , front radar data of the front radar 120 , and corner radar data of the corner radar 130 . Also, the processor 210 may generate a braking signal for controlling the braking device 30 and an AVN signal for controlling the AVN device 60 . Also, the processor 210 may generate an acceleration signal for controlling the engine 10 and the transmission 20 .

The processor 210 may include an image signal processor that processes image data of the camera 110 , and a digital signal processor that processes radar data of the radars 120 and 130 , and includes a steering signal and an AVN signal. It may include a micro control unit (MCU) that generates a signal.

The memory 220 may store a program and/or data for the processor 210 to process image data. The memory 220 may store a program and/or data for the processor 210 to process radar data. Also, the memory 220 may store a program and/or data for the processor 210 to generate a control signal related to the configuration of the vehicle 1 .

The memory 220 may temporarily store image data received from the camera 110 and/or radar data received from the radars 120 and 130 . Also, the memory 220 may temporarily store a result of the processor 210 processing image data and/or radar data. The memory 220 includes not only volatile memories such as S-RAM and D-RAM, but also flash memory, read-only memory (ROM), erasable programmable read only memory (EPROM), etc. of non-volatile memory.

3 illustrates a camera and a radar included in a driver assistance system according to an exemplary embodiment.

Referring to FIG. 3 , the camera 110 may have a field of view 110a facing the front of the vehicle 1 . For example, the camera 110 may be installed on the front windshield of the vehicle 1 . The camera 110 may photograph the front of the vehicle 1 and obtain image data of the front of the vehicle 1 . The image data in front of the vehicle 1 may include location information about other vehicles or pedestrians or cyclists or lanes located in front of the vehicle 1 .

The forward radar 120 may have a field of sensing 120a facing the front of the vehicle 1 . The front radar 120 may be installed, for example, on a grille or a bumper of the vehicle 1 .

The front radar 120 may include a transmit antenna (or transmit antenna array) that radiates a transmit radio wave toward the front of the vehicle 1, and a receive antenna (or receive antenna array) receives the reflected radio wave reflected by an object. have. The front radar 120 may acquire front radar data from the transmitted radio wave transmitted by the transmitting antenna and the reflected wave received by the receiving antenna. The forward radar data may include distance information and speed degrees about other vehicles or pedestrians or cyclists located in front of the vehicle 1 . The forward radar 120 calculates the state distance to the object based on the phase difference (or time difference) between the transmitted radio wave and the reflected wave, and calculates the relative speed of the object based on the frequency difference between the transmitted radio wave and the reflected wave can do.

The corner radar 130 includes a first corner radar 130 - 1 installed on the front right side of the vehicle 1 , a second corner radar 130 - 2 installed on the front left side of the vehicle 1 , and the vehicle 1 . It may include a third corner radar 130 - 3 installed on the rear right side of the , and a fourth corner radar 130 - 4 installed on the rear left side of the vehicle 1 .

The first corner radar 130 - 1 may have a detection field of view 130 - 1a toward the front right side of the vehicle 1 . The second corner radar 132 may have a detection field of view 130 - 2a facing the front left of the vehicle 1 , and the third corner radar 130 - 3 may have a detection field of view facing the rear right of the vehicle 1 . 130 - 3a , and the fourth corner radar 130 - 4 may have a detection field of view 130 - 4a toward the rear left of the vehicle 1 .

Each of the corner radars 130 may include a transmit antenna and a receive antenna. The first, second, third, and fourth corner radars 130-1, 130-2, 130-3, and 130-4 are the first corner radar data, the second corner radar data, and the third corner radar data, respectively. and fourth corner radar data. The first corner radar data may include distance information and speed degree regarding an object located on the right front of the vehicle 1 . The second corner radar data may include distance information and speed degree of an object located on the front left side of the vehicle 1 . The third and fourth corner radar data may include distance information and speed information of objects located on the rear right side of the vehicle 1 and the rear left side of the vehicle 1 .

The processor 210 determines objects in front of the vehicle 1 (eg, other vehicles, pedestrians, cyclists, lanes, etc.) based on at least one of forward image data of the camera 110 or forward radar data of the forward radar 120 . , road structures, road signs, etc.). In addition, the processor 210 is configured to provide position information (distance and direction) and speed information ( relative speed). In addition, the processor 210 is configured to provide location information (distance and direction) of objects on the side (front right, front left, rear right, rear left) of the vehicle 1 based on the corner radar data of the plurality of corner radars 130 . and speed information (relative speed).

4 illustrates a junction where an overpass exists as an example of a junction divided into an upper road and a lower road. 5 illustrates a case in which an upper road is determined as a driving road of a vehicle. 6 illustrates a case in which a lower road is determined as a driving road of a vehicle.

Referring to FIG. 4 , there may be a region in which an overpass is branched in front of the vehicle 1 while driving. That is, in the image captured by the camera 110 , a flat road existing on the right side may be defined as a lower road 310 , and an elevated road existing on the left side of the image may be defined as an upper road 320 .

The controller 200 may determine the upper road 320 or the lower road 310 based on the guide line displayed on the road. The guide line displayed on the road may be identified from image data obtained by the camera 110 . In addition, the controller 200 may acquire guardrail information from data acquired by at least one of the camera 110 or the radar 120 and 130 , and use the guardrail information to obtain the upper road 320 or lower A road 310 may be determined.

Referring to FIG. 5 , the controller 200 of the driver assistance system 100 may identify a lane 400, an edge of a road structure, and a speed sign 330 based on image data obtained by the camera 110. have. The edge of the road structure may be exemplified by the edge of the guard rail.

The controller 200 may determine the driving road of the vehicle 1 at a junction divided into the upper road 320 and the lower road 310 based on the lane 400 and the edge of the road structure. Also, when the speed sign 330 is located on the driving road, the controller 200 may adjust the speed of the vehicle 1 based on the speed sign 330 .

Specifically, the controller 200 may calculate the lane vector 410 based on the lane 400 and calculate the structure vector 500 based on the edge of the road structure. The controller 200 may determine the driving road of the vehicle 1 by comparing the slope of the lane vector 410 with the slope of the structure vector 500 . The slope θ_line of the lane vector 410 and the slope θ_s of the structure vector 500 may be calculated based on the horizontal axis of the 2D image obtained by the camera 110 , respectively.

In FIG. 5 , since the slope θ_line of the lane vector 410 is greater than or equal to the slope θ_s of the structure vector 500 , the controller 200 may determine the upper road 320 as the driving road of the vehicle 1 . . Also, the control unit 200 may calculate the vanishing point 600 based on the lane 400 . The vanishing point 600 may be calculated as a point where both lanes 400 converge in the image data.

The controller 200 may determine whether the speed sign 330 is located on the driving road based on the distance d from the vanishing point 600 to the speed sign 330 . Specifically, when the distance from the vanishing point 600 to the speed sign 330 is less than or equal to a predetermined reference distance, the controller 200 may determine that the speed sign 330 is located on the driving road. 5 shows a case in which the distance d from the vanishing point 600 to the speed indicator 330 is less than or equal to the reference distance. Accordingly, it may be determined that the speed sign 330 is located on the upper road 320 that is the current driving road.

Referring to FIG. 6 , since the slope θ_line of the lane vector 410 is smaller than the slope θ_s of the structure vector 500 , the controller 200 determines the lower road 310 as the driving road of the vehicle 1 . can do.

In addition, FIG. 6 shows a case where the distance d from the vanishing point 600 to the speed indicator 330 is greater than the reference distance. Therefore, it may be determined that the speed sign 330 is not located on the lower road 310 that is the current driving road.

Meanwhile, the controller 200 of the driver assistance system 100 may control the AVN device 60 to display speed limit information included in the speed indicator 330 . Also, the controller 200 may adjust the speed of the vehicle 1 based on the speed limit information. For example, when the current speed of the vehicle 1 is higher than the speed limit, the controller 200 may control the braking device 30 to decrease the speed of the vehicle 1 .

7 is a flowchart illustrating a method of controlling a driver assistance system according to an exemplary embodiment.

Referring to FIG. 7 , the controller 200 of the driver assistance system 100 may acquire image data of the front of the vehicle from the camera 110 ( 701 ). The controller 200 may identify a lane, an edge of a road structure, and a speed mark based on the image data ( 702 ). The controller 200 may calculate a lane vector 410 based on the lane 400 ( 703 ). Also, the controller 200 may calculate the structure vector 500 based on the edge of the road structure ( 704 ).

Next, the controller 200 may determine the driving road of the vehicle 1 by comparing the slope of the lane vector 410 with the slope of the structure vector 500 ( S705 ). When the slope θ_line of the lane vector 410 is equal to or greater than the slope θ_s of the structure vector 500, the controller 200 may determine that the vehicle 1 is traveling on the upper road 320 (706). . When the slope θ_line of the lane vector 410 is smaller than the slope θ_s of the structure vector 500 , the controller 200 may determine that the vehicle 1 is traveling on the lower road 310 ( 707 ). ).

Next, the controller 200 may determine whether the speed sign 330 is located on the driving road ( 708 ). When the speed sign 330 is located on the driving road, the controller 200 may adjust the speed of the vehicle 1 based on the speed sign 330 ( 709 ).

8 is a flowchart illustrating a method of determining whether a speed mark is located on a driving road.

Referring to FIG. 8 , the controller 200 may calculate a vanishing point 600 based on the lane 400 ( 801 ). The vanishing point 600 may be calculated as a point where both lanes 400 converge in the image data. Also, the controller 200 may calculate the distance d to the speed indicator 330 based on the vanishing point 600 ( 802 ). When the distance from the vanishing point 600 to the speed sign 330 is less than or equal to a predetermined reference distance, the controller 200 may determine that the speed sign 330 is located on the driving road (803, 804). Conversely, when the distance d from the vanishing point 600 to the speed sign 330 is greater than the reference distance, the controller 200 may determine that the speed sign 330 is not located on the driving road (803). , 805).

As described above, the disclosed driver assistance system and its control method can accurately determine the driving road of the vehicle at a junction divided into an upper road and a lower road, such as a junction where an overpass or an underground road exists.

In addition, the disclosed driver assistance system and its control method may determine whether the speed sign is related to the driving road of the vehicle at a junction divided into an upper road and a lower road.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may create a program module to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in other forms than the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle
100: driver assistance system
110: front camera
120: forward radar
130: multiple corner radars
140: speed sensor
200: control unit

Claims (12)

a camera disposed in the vehicle to have a field of view in front of the vehicle and acquiring image data; and
a control unit including a processor for processing the image data acquired by the camera;
The control unit is
A lane, an edge of a road structure, and a speed mark are identified based on the image data, and a driving road of the vehicle is determined at a junction divided into an upper road and a lower road based on the lane and the edge of the road structure, and the speed mark is located on the driving road, the driver assistance system for adjusting the speed of the vehicle based on the speed indicator. According to claim 1,
the control unit
A driver assistance system that calculates a lane vector based on the lane, calculates a structure vector based on an edge of the road structure, and determines the driving road of the vehicle by comparing the slope of the lane vector and the slope of the structure vector . 3. The method of claim 2,
the control unit
When the slope of the lane vector is equal to or greater than that of the structure vector, the upper road is determined as the driving road, and when the slope of the lane vector is smaller than the slope of the structure vector, the lower road is determined as the driving road. According to claim 1,
the control unit
The driver assistance system calculates a vanishing point based on the lane, and determines whether the speed mark is located on the driving road based on a distance from the vanishing point to the speed mark. 5. The method of claim 4,
the control unit
When the distance from the vanishing point to the speed sign is less than or equal to a predetermined reference distance, the driver assistance system determines that the speed sign is located on the driving road. According to claim 1,
AVN (Audio Video Navigation) device; further comprising,
the control unit
A driver assistance system for controlling the AVN device to display speed limit information included in the speed indicator, and adjusting the speed of the vehicle based on the speed limit information. A method for controlling a driver assistance system comprising: a camera disposed in a vehicle to have a field of view of the vehicle to obtain image data; and a processor for processing the image data, the method comprising:
identify a lane, an edge of a road structure, and a speed sign based on the image data;
determining a driving road of the vehicle at a junction divided into an upper road and a lower road based on the lane and the edge of the road structure; and
and adjusting the speed of the vehicle based on the speed sign when the speed sign is located on the driving road. 8. The method of claim 7,
To determine the driving road of the vehicle,
calculating a lane vector based on the lane;
calculating a structure vector based on the edge of the road structure; and
and determining the driving road of the vehicle by comparing the slope of the lane vector with the slope of the structure vector. 9. The method of claim 8,
To determine the driving road of the vehicle,
determining the upper road as the driving road when the slope of the lane vector is equal to or greater than the slope of the structure vector; and
and determining the lower road as the driving road when the slope of the lane vector is smaller than the slope of the structure vector. 8. The method of claim 7,
calculating a vanishing point based on the lane; and
and determining whether the speed sign is located on the driving road based on a distance from the vanishing point to the speed sign. 11. The method of claim 10,
Determining whether the speed sign is located on the driving road comprises:
determining that the speed marker is located on the driving road when the distance from the vanishing point to the speed marker is less than or equal to a predetermined reference distance; A method of controlling a driver assistance system comprising: 8. The method of claim 7,
Further comprising; controlling the AVN (Audio Video Navigation) device of the vehicle to display the speed limit information included in the speed indicator;
To regulate the speed of the vehicle,
and adjusting the speed of the vehicle based on the speed limit information.

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