KR20220085084A - driver assistance System and control method for the same - Google Patents

Abstract

A driver assistance system provided in a vehicle includes: a camera provided in the vehicle to have an external view of the vehicle and acquiring image data; a radar provided in the vehicle to have an external detection field of view for the vehicle and acquiring radar data; and a control unit including at least one processor for processing the image data acquired by the camera and the radar data acquired by the radar, wherein the control unit is based on at least one of the image data and the radar data to determine the expected driving path of the forward vehicle based on steering angle information received from the forward vehicle through the communication module of the vehicle, and the forward vehicle based on the predicted driving path of the forward vehicle When a U-turn is predicted to cross the center line, a warning signal for controlling a warning system of the vehicle is transmitted to the vehicle.

Description

Driver assistance system and control method for the same

The disclosed invention relates to a driver assistance system.

Recently, in order to reduce the burden on the driver and increase convenience, there is a need for a vehicle equipped with an Advanced Driver Assist System (ADAS) that actively provides information on the vehicle condition, driver condition, and surrounding environment. Research is actively underway.

Examples of advanced driver assistance systems mounted on vehicles include Forward Collision Warning (FCW) and Forward Collision-Avoidance Assist (FCA).

Such a system is a system for determining a collision risk with an object in the front in a driving situation of a vehicle, and for avoiding collision and providing a warning through emergency braking in a collision situation. However, despite the information through radar or camera, it may be difficult to avoid a collision with an object, so that a collision between a vehicle and an object cannot be sufficiently avoided.

An object of the present invention is to provide a driver assistance system capable of avoiding a collision and a control method thereof by predicting emergency steering of a vehicle ahead based on steering angle information of the vehicle in front obtained through vehicle to vehicle (V2V) communication.

A driver assistance system provided in a vehicle includes: a camera provided in the vehicle to have an external view of the vehicle and acquiring image data; a radar provided in the vehicle to have an external detection field of view for the vehicle and acquiring radar data; and a control unit including at least one processor for processing the image data acquired by the camera and the radar data acquired by the radar, wherein the control unit is based on at least one of the image data and the radar data to determine the expected driving path of the forward vehicle based on steering angle information received from the forward vehicle through the communication module of the vehicle, and the forward vehicle based on the predicted driving path of the forward vehicle When a U-turn is predicted to cross the center line, a warning signal for controlling a warning system of the vehicle is transmitted to the vehicle.

The controller may predict that the front vehicle will cross the center line and make a U-turn when the angle between the expected driving path of the vehicle in front and the center line is equal to or greater than a preset value.

The controller may determine the expected driving path of the vehicle based on the driving information of the vehicle, and determine whether the expected driving path of the vehicle and the expected driving path of the vehicle in front overlap.

The controller may transmit a warning signal for controlling a warning system of the vehicle to the vehicle when it is predicted that the vehicle in front will make a U-turn crossing the center line and the expected travel path of the vehicle overlaps the expected travel path of the vehicle in front. have.

The controller may determine whether a collision is possible based on the driving information of the vehicle and the driving information of the front vehicle when the expected driving path of the vehicle and the expected driving path of the vehicle in front overlap.

When a collision between the vehicle and the vehicle ahead is expected, the controller may transmit a warning signal for controlling a warning system of the vehicle to the vehicle.

The controller may transmit a braking signal for controlling a braking system of the vehicle to the vehicle when a collision between the vehicle and the vehicle in front is expected.

When it is determined that the front vehicle crosses the driving lane based on the image data, the controller may determine an expected driving path of the forward vehicle based on an angle between the forward vehicle and the driving lane.

A camera provided in a vehicle, provided in the vehicle to have an external field of view of the vehicle, and obtaining image data, and a radar provided in the vehicle to have an external detection field of view for the vehicle and obtaining radar data A method of controlling a driver assistance system according to an embodiment includes processing image data acquired by the camera and radar data acquired by the radar; when a vehicle ahead is detected based on at least one of the image data and the radar data, determining an expected driving path of the vehicle ahead based on steering angle information received from the vehicle ahead through a communication module of the vehicle; and transmitting a warning signal for controlling a warning system of the vehicle to the vehicle when it is predicted that the vehicle ahead will make a U-turn beyond the center line based on the predicted driving path of the vehicle ahead.

The control method of the driver assistance system may further include predicting that the front vehicle will make a U-turn crossing the center line when the angle between the expected driving path of the vehicle in front and the center line is equal to or greater than a preset value.

The method of controlling the driver assistance system may include: determining an expected driving path of the vehicle based on driving information of the vehicle; The method may further include determining whether or not the expected driving path of the vehicle overlaps the expected driving path of the vehicle in front.

The method for controlling the driver assistance system may include a warning signal for controlling the warning system of the vehicle when it is predicted that the vehicle in front will make a U-turn crossing a center line and the expected driving path of the vehicle and the expected driving path of the vehicle in front overlap. It may further include; transmitting to the vehicle.

The method of controlling the driver assistance system may include determining whether a collision is possible based on driving information of the vehicle and driving information of the front vehicle when the expected driving path of the vehicle and the expected driving path of the vehicle in front overlap; may further include.

The method for controlling the driver assistance system may further include transmitting a warning signal for controlling a warning system of the vehicle to the vehicle when a collision between the vehicle and the vehicle in front is expected.

The method of controlling the driver assistance system may further include transmitting a braking signal for controlling a braking system of the vehicle to the vehicle when a collision between the vehicle and the vehicle in front is expected.

The method for controlling the driver assistance system may include, when determining that the vehicle ahead crosses a driving lane based on the image data, determines an expected driving path of the vehicle ahead based on an angle between the vehicle ahead and the driving lane. Determining; may further include.

An object of the present invention is to provide a driver assistance system capable of avoiding a collision and a control method thereof by predicting emergency steering of a vehicle ahead based on steering angle information of the vehicle in front obtained through vehicle to vehicle (V2V) communication.

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.
3 illustrates a camera and a radar included in a driver assistance system according to an exemplary embodiment.
4 illustrates a case in which the driver assistance system detects emergency steering of a vehicle in front according to an exemplary embodiment.
5 illustrates a case in which a driver assistance system detects a lane change of a vehicle in front according to an exemplary embodiment.
6 is a diagram for describing a case in which a driver assistance system transmits a warning signal to a warning system according to an exemplary embodiment.
7 is a flowchart illustrating a method of detecting emergency steering of a vehicle in front of a driver assistance system according to an exemplary embodiment.
8 is a flowchart illustrating a method of predicting a collision by detecting emergency steering of a vehicle in front of a driver assistance system according to an exemplary embodiment.

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 disclosed 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 certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Throughout the specification, when a member is said to be located "on" another member, this includes not only a case in which a member is in contact with another member but also a case in which another member exists between the two members.

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 disclosed invention will be described with reference to the accompanying drawings.

1 shows a configuration of a vehicle according to an embodiment.

As shown in 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 .

However, the configuration of the vehicle 1 of the present invention is not limited to the above example, and the vehicle 1 includes a motor ( Not shown), or may include only the motor without including the engine 10 and the transmission 20 .

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 (Electronic Brake Control Module) ( 31), an Electronic Power Steering (EPS) 41, a Body Control Module (BCM) 51, a communication module 61, and a Driver Assistance System (DAS) ) (100).

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.

However, as described above, according to the embodiment, the vehicle 1 may correspond to a hybrid vehicle further including a motor or an electric vehicle including only a motor. Accordingly, depending on the embodiment, engine management The system 11 and the transmission control unit 21 may be omitted.

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 communication module 61 may transmit/receive data between other vehicles located outside the vehicle 1 . That is, the communication module 61 may support vehicle to vehicle (V2V) communication, and may transmit/receive data to and from another vehicle based on a known communication protocol.

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 functions to the driver. For example, the driver assistance system 100 includes a Forward Collision Warning (FCW), a Forward Collision-Avoidance Assist (FCA), and a Blind Spot Detection (BSD) system. , Lane Change Assist (LCA), High Beam Assist (HBA), Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise control (Smart Cruise Control, SCC) may be provided.

The driver assistance system 100 includes a camera module 101 that acquires image data around the vehicle 1 and a radar module 102 that acquires object data around the vehicle 1 . The camera module 101 includes a camera 101a and a controller (Electronic Control Unit, ECU) 101b, photographing the front of the vehicle 1 and recognizing other vehicles, pedestrians, cyclists, lanes, road signs, etc. can The radar module 102 includes a radar 102a and a controller 102b, and can acquire the relative position, relative speed, etc. of objects (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle 1 . have.

The driver assistance system 100 is not limited to that shown in FIG. 1 , and may further include a lidar that scans around the vehicle 1 and detects an object.

The above electronic components may communicate with each other through the vehicle communication network NT. For example, electronic components transmit data through Ethernet, Media Oriented Systems Transport (MOST), Flexray, CAN (Controller Area Network, CAN), and LIN (Local Interconnect Network, LIN). can give and receive For example, the driver assistance system 100 provides a driving control signal, a braking signal and A steering signal may be transmitted, and data received from another vehicle may be received from the communication module 61 through the vehicle communication network NT.

FIG. 2 shows a configuration of the driver assistance system 100 according to an embodiment, and FIG. 3 shows a camera and a radar included in the driver assistance system 100 according to an embodiment.

As shown in FIG. 2 , the vehicle 1 may include a braking system 32 , a steering system 42 , a warning system 72 , and a driver assistance system 100 .

The braking system 32 includes an electronic braking control module 31 (see FIG. 1 ) and a braking device 30 (see FIG. 1 ) described in conjunction with FIG. 1 , and the steering system 42 includes an electronic steering system 41 ( FIG. 1 ). 1) and a steering device 40 (refer to FIG. 1).

The warning system 72 may provide a warning to the driver based on a warning signal received from the driver assistance system 100 through the vehicle network NT.

To this end, the warning system 72 may include a processor, and may include a speaker that provides a warning sound to the driver based on the warning signal and a display that displays a warning message to the driver based on the warning signal. The speaker and display may be provided inside the vehicle 1 to provide a warning to the driver.

In addition, the warning system 72 may include warning indicators provided on each of the left side mirror and the right side mirror. A directional warning may be provided to the driver by turning on a warning indicator in the side mirror corresponding to a position where a danger is expected to occur based on the warning signal.

The driver assistance system 100 may include a camera 110 and a radar 120 .

The camera 110 may have a field of view 111a , 112a , 113a , 114a facing the outside of the vehicle 1 , as shown in FIG. 3 .

To this end, the camera 110 obtains the right camera 111 for acquiring image data for the right room, the left camera 112 for acquiring image data for the left room, and image data for the front. It includes a front camera 113 and a rear camera 114 to obtain image data for the rear.

Each of the right side camera 111 and the left side camera 112 may be provided in, for example, a right side mirror and a left side mirror.

The front camera 113 may be installed on the front windshield of the vehicle 1 , and the rear camera 114 may be installed on the trunk of the vehicle 1 , for example.

However, the installation position and number of each camera 110 is not limited to the above example, and may be provided in various ways depending on the embodiment.

The camera 110 may photograph the exterior of the vehicle 1 and acquire image data outside the vehicle 1 . The image data outside the vehicle 1 may include a location related to another vehicle or a pedestrian or a cyclist or a lane located outside the vehicle 1 .

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 130 . For example, the camera 110 is connected to the controller 130 through a vehicle communication network NT, connected to the controller 130 through a hard wire, or a printed circuit board (PCB). ) may be connected to the control unit 130 .

The camera 110 may transmit image data outside the vehicle 1 to the controller 130 .

As shown in FIG. 3 , the radar 120 includes corner radars 121 , 122 , 123 , and 124 provided at corners of the vehicle 1 , and a field of sensing facing the front of the vehicle 1 . ) including a front radar 125 having a, and a rear radar 126 having a detection field of view facing the rear of the vehicle 1 .

The plurality of corner radars 121 , 122 , 123 , and 124 include a first corner radar 121 installed on the front right side of the vehicle 1 and a second corner radar 122 installed on the front left side of the vehicle 1 . ), a third corner radar 123 installed on the rear right side of the vehicle 1 , and a fourth corner radar 124 installed on the rear left side of the vehicle 1 .

As shown in FIG. 3 , the first corner radar 121 may have a detection field of view 121a facing the front right side of the vehicle 1 . The second corner radar 122 may have a detection field of view 122a facing the front left side of the vehicle 1 , and may be installed, for example, on the left side of the front bumper of the vehicle 1 . The third corner radar 123 may have a detection field of view 123a facing the rear right of the vehicle 1 , and may be installed on the right side of the rear bumper of the vehicle 1 , for example. The fourth corner radar 124 may have a detection field of view 124a facing the rear left of the vehicle 1 , and may be installed, for example, on the left side of the rear bumper of the vehicle 1 .

Each of the first, second, third, and fourth corner radars 121 , 122 , 123 , and 124 may include a transmit antenna and a receive antenna. The first, second, third, and fourth corner radars 121 , 122 , 123 and 124 acquire first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively. can do. The first corner radar data may include distance information and speed degree about another vehicle or pedestrian or cyclist (hereinafter referred to as an “object”) located on the right front side 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 relative speeds of objects located on the rear right side of the vehicle 1 and the rear left side of the vehicle 1 .

Each of the first, second, third and fourth corner radars 121, 122, 123, and 124 may be connected to the control unit 130 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. have. The first, second, third, and fourth corner radars 121 , 122 , 123 , and 124 may transmit first, second, third, and fourth corner radar data to the controller 130 , respectively.

The front radar 125 may be installed, for example, on the right side of the front bumper of the vehicle 1 .

The front radar 125 may have a field of sensing 125a facing the front of the vehicle 1 as shown in FIG. 3 . The front radar 125 may be installed, for example, on a grill or bumper of the vehicle 1 .

The front radar 125 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 125 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 125 calculates the state distance to the object based on the phase difference (or time difference) between the transmitted wave and the reflected wave, and calculates the relative speed of the object based on the frequency difference between the transmitted wave and the reflected wave can do.

The front radar 125 may be connected to the control unit 130 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. The forward radar 125 may transmit forward radar data to the controller 130 .

The rear radar 126 may acquire rear radar data for the rear of the vehicle 1 , and may be provided on a bumper of the vehicle 1 .

The controller 130 is a controller 101b (refer to FIG. 1) of the camera module 101 (refer to FIG. 1) and/or a controller 102b (refer to FIG. 1) of the radar module 102 (refer to FIG. 1) and/or a separate integration It may include a controller.

The controller 130 includes a processor 131 and a memory 132 .

The processor 131 processes the image data of the camera 110 and the radar data of the radar 120 , and a braking signal for controlling the braking system 32 , the communication module 61 and the warning system 72 , and communication control. Signals and warning signals can be generated. For example, the processor 131 may generate an image processor that processes image data of the camera 110 and/or a digital signal processor that processes radar data of the radars 120 and/or a braking signal, a steering signal, and a warning signal. It may include a micro control unit (MCU) that generates it.

The processor 131 may detect a front vehicle positioned in front of the vehicle 1 based on image data of the camera 110 or radar data of the radar 120 .

After detecting the vehicle in front, the processor 131 may control the communication module 61 of the vehicle 1 to perform V2V communication with the vehicle in front, and driving information including steering angle information of the vehicle in front from the vehicle in front. can receive

In this case, the driving information may include at least one of speed information, acceleration information, steering angle information, direction indicator lamp operation information, and location information.

The processor 131 may determine an expected driving path of the vehicle in front based on the steering angle information received from the vehicle in front.

Also, according to an embodiment, when determining that the vehicle in front crosses the driving lane based on the image data, the processor 131 may determine the expected driving path of the vehicle in front based on the angle between the vehicle in front and the driving lane. have.

That is, according to an embodiment, the processor 131 may determine the expected driving path of the front vehicle based on at least one of steering angle information received from the front vehicle or an angle between the front vehicle and the driving lane.

The processor 131 may predict whether the vehicle in front will make a U-turn beyond the center line based on the predicted driving path of the vehicle in front.

Specifically, the processor 131 may predict that the front vehicle will cross the center line and make a U-turn when the angle between the expected driving path and the center line of the vehicle in front is equal to or greater than a preset value.

The processor 131 transmits a warning signal for controlling the warning system 72 of the vehicle 1 to the vehicle 1 when it is predicted that the vehicle ahead will make a U-turn crossing the center line, thereby providing the driver with an illegal U-turn of the vehicle in front. can warn you that At this time, the warning may be provided through a sound through a speaker, an image through a display, a warning light, etc., and may also be provided through vibration or reverse torque from the steering wheel.

In this case, according to an embodiment, the processor 131 determines the expected driving path of the vehicle 1 based on driving information of the vehicle 1 , and the expected driving path of the vehicle 1 and the expected driving path of the vehicle in front. It is possible to determine whether the overlapping of It is also possible to transmit a warning signal to control the vehicle (1).

In addition, when the expected driving path of the vehicle 1 and the expected driving path of the vehicle in front overlap, the processor 131 is configured to generate an estimated time to collide with the vehicle ahead based on the driving information of the vehicle and the driving information of the front vehicle Collision (TTC) or Distance to Collision (DTC) is calculated, and it is possible to determine whether a collision is possible through comparison with a reference value.

The processor 131, according to an embodiment, when a collision between the vehicle 1 and the vehicle in front is expected, by transmitting a warning signal for controlling the warning system 72 of the vehicle 1 to the vehicle 1, It can warn the driver that there is a risk of collision with the vehicle in front. At this time, the warning may be provided through a sound through a speaker, an image through a display, a warning light, etc., and may also be provided through vibration or reverse torque from the steering wheel.

Also, according to an embodiment, the processor 131 transmits a braking signal for controlling the braking system 32 of the vehicle 1 to the vehicle 1 when a collision between the vehicle 1 and the vehicle in front is expected. By doing so, it is possible to prevent a collision by providing automatic braking without driver intervention.

The memory 132 includes a program and/or data for the processor 131 to process image data, a program and/or data for processing radar data, and a brake signal, a communication control signal and/or a processor 131 to process the radar data. A program and/or data for generating a warning signal may be stored.

The memory 132 temporarily stores the image data received from the camera 110 and/or the radar data received from the radar 120 , and temporarily stores the processing result of the image data and/or the radar data of the processor 131 . can remember

The memory 132 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.

The driver assistance system 100 is not limited to that shown in FIG. 2 , and may further include a lidar that scans around the vehicle 1 and detects an object.

In the above, each configuration of the driver assistance system 100 has been described. Hereinafter, the detection of the emergency steering of the vehicle in front by the driver assistance system 100 will be described in detail.

4 illustrates a case in which the driver assistance system 100 according to an embodiment detects emergency steering of a vehicle in front, and FIG. 5 is a diagram in which the driver assistance system 100 according to an embodiment detects a lane change of the vehicle in front. 6 is a diagram for explaining a case in which the driver assistance system 100 transmits a warning signal to the warning system 72 according to an exemplary embodiment.

Referring to FIGS. 4 and 5 , the driver assistance system 100 according to an exemplary embodiment is located in front of the vehicle 1 based on the image data of the camera 110 or the radar data of the radar 120 . The vehicle 2 can be detected.

After detecting the vehicle in front (2), the driver assistance system 100 may perform V2V communication with the vehicle in front (2) by controlling the communication module (61) of the vehicle (1), and the vehicle in front (2) Driving information including steering angle information of the vehicle in front 2 may be received from the .

In this case, the driving information may include at least one of speed information, acceleration information, steering angle information, direction indicator lamp operation information, and location information.

For example, the driver assistance system 100 may obtain the driving information of the front vehicle 2 by controlling the communication module 61 of the vehicle 1 to request the driving information from the detected forward vehicle 2 . can

However, according to the embodiment, the vehicle in front 2 may automatically transmit its own driving information to the vehicle 1 entering within a preset distance, and through this, the vehicle approaching the vehicle 2 in front ( 1) may acquire driving information of the vehicle in front (2).

The driver assistance system 100 may determine the expected driving path 420 of the front vehicle 2 based on the steering angle information received from the front vehicle 2 , and may determine the expected driving path 420 of the front vehicle 2 . It is possible to predict whether or not the vehicle in front 2 will make a U-turn beyond the center line 430 based on . In this case, the driver assistance system 100 may determine the expected driving path 420 by further considering the speed information of the vehicle in front 2 in addition to the steering angle information.

Moreover, as described above, according to an embodiment, the driver assistance system 100 determines whether the vehicle in front of the vehicle 2 crosses the driving lane based on the image data between the vehicle 2 and the driving lane. An expected travel path of the vehicle 2 in front may be determined based on the angle.

That is, the processor 131 is configured to, according to an embodiment, the predicted driving path of the front vehicle 2 based on at least one of the steering angle information received from the front vehicle 2 or the angle between the front vehicle 2 and the driving lane. can be decided In addition, the driver assistance system 100 may determine the expected driving path 420 by further considering the speed information of the front vehicle 2 in addition to the steering angle information or the angle information between the vehicle 2 and the driving lane in front.

Specifically, as shown in FIG. 4 , the driver assistance system 100 is configured to control the vehicle in front if the angle θ between the expected driving path 420 of the vehicle in front and the center line 430 is equal to or greater than a preset value, as shown in FIG. 4 . It can be predicted that (2) will cross the center line 430 and make a U-turn. In other words, when the angle between the predicted driving path 420 and the center line 430 at the point where the predicted driving path 420 passes through the center line 430 is close to a right angle, the driver assistance system 100 detects the vehicle in front (2) It can be expected that the vehicle will drive by crossing this center line.

That is, when the vehicle 2 in front of the vehicle 1 is making an illegal U-turn that crosses the center line 430 in a situation where the vehicle 1 is driving, the vehicle 1 moving forward and the front vehicle emergency steering (2) A collision may occur between have.

On the other hand, as shown in FIG. 5 , the driver assistance system 100 simply performs a forward operation when the angle θ between the center line 430 and the expected driving path 420 of the vehicle in front 2 is less than a preset value, as shown in FIG. 5 . It can be predicted that the vehicle 2 will perform a lane change. In this case, it is determined that the risk of collision between the vehicle 1 and the vehicle in front is not large, so that the warning signal may not be transmitted to the warning system 72 , and through this, the driver's fatigue due to unnecessary warning can reduce

The driver assistance system 100 transmits to the vehicle 1 a warning signal that controls the warning system 72 of the vehicle 1 when the vehicle in front 2 is predicted to make a U-turn beyond the center line 430 , It is possible to warn the driver that there is an illegal U-turn of the vehicle 2 in front. At this time, the warning may be provided through a sound through a speaker, an image through a display, a warning light, etc., and may also be provided through vibration or reverse torque from the steering wheel.

For example, the warning system 72 (eg, display) of the vehicle 1 may display a message 600 warning that there is an illegal U-turn of the vehicle 2 in front, as shown in FIG. 6 . have.

In this case, the driver assistance system 100 determines the expected driving path 410 of the vehicle 1 based on driving information of the vehicle 1 , and the expected driving path 410 of the vehicle 1 , according to an embodiment. ) and the expected driving path 420 of the vehicle in front may be determined whether or not overlapping, and the vehicle in front 2 is predicted to make a U-turn crossing the center line 430 and the expected driving path 410 of the vehicle 1 and a warning signal for controlling the warning system 72 of the vehicle 1 may be transmitted to the vehicle 1 only when the predicted driving path 420 of the vehicle 2 in front overlaps. That is, the driver assistance system 100 transmits a warning signal to the warning system 72 when there is no collision risk because the expected driving paths 410 and 420 of the vehicle 1 and the vehicle 2 in front do not overlap. may not be done, and through this, it is possible to reduce driver fatigue due to unnecessary warnings.

In addition, when the expected driving path 410 of the vehicle 1 and the expected driving path 420 of the front vehicle 2 overlap, the driver assistance system 100 provides the driving information of the vehicle 1 and the driving information of the front vehicle 2 ), calculates the expected collision time (Time to Collision, TTC) or Distance to Collision (DTC) with the vehicle in front (2) based on the driving information of can decide

The driver assistance system 100 may, according to an embodiment, send a warning signal to control the warning system 72 of the vehicle 1 when a collision between the vehicle 1 and the vehicle in front 2 is expected. ), it is possible to warn the driver that there is a risk of collision with the vehicle 2 in front. At this time, the warning may be provided through a sound through a speaker, an image through a display, a warning light, etc., and may also be provided through vibration or reverse torque from the steering wheel.

In addition, the driver assistance system 100 may, according to an embodiment, transmit a braking signal for controlling the braking system 32 of the vehicle 1 to the vehicle when a collision between the vehicle 1 and the vehicle in front 2 is expected. By transmitting to (1), it is possible to prevent a collision by providing automatic braking without driver intervention.

Hereinafter, a method of controlling the driver assistance system 100 according to an exemplary embodiment will be described. The driver assistance system 100 according to the above-described embodiment may be applied to a method of controlling the driver assistance system 100 to be described later. Accordingly, the contents described above with reference to FIGS. 1 to 6 are equally applicable to the control method of the driver assistance system 100 according to the exemplary embodiment, even if not specifically mentioned.

7 is a flowchart illustrating a method of detecting emergency steering of the vehicle 2 in front of the driver assistance system 100 according to an exemplary embodiment.

Referring to FIG. 7 , the driver assistance system 100 according to an exemplary embodiment may detect the vehicle in front 2 based on image data or radar data ( 710 ), and receives steering angle information from the vehicle in front ( 2 ). may (720).

The driver assistance system 100 may determine the expected driving path 420 of the front vehicle 2 based on the steering angle information ( 730 ), and based on the expected driving path 420 of the front vehicle 2 , the vehicle in front It can be predicted whether (2) will cross the center line 430 to make a U-turn. In this case, the driver assistance system 100 may determine the expected driving path 420 by further considering the speed information of the vehicle in front 2 in addition to the steering angle information.

Moreover, as described above, according to an embodiment, the driver assistance system 100 determines whether the vehicle in front of the vehicle 2 crosses the driving lane based on the image data between the vehicle 2 and the driving lane. An expected travel path of the vehicle 2 in front may be determined based on the angle.

That is, the processor 131 is configured to, according to an embodiment, the predicted driving path of the front vehicle 2 based on at least one of the steering angle information received from the front vehicle 2 or the angle between the front vehicle 2 and the driving lane. can be decided In addition, the driver assistance system 100 may determine the expected driving path 420 by further considering the speed information of the front vehicle 2 in addition to the steering angle information or the angle information between the vehicle 2 and the driving lane in front.

Specifically, if the angle θ between the expected driving path 420 of the vehicle in front and the center line 430 is equal to or greater than a preset value (Yes in 740), the driver assistance system 100 may It is possible to transmit a warning signal for controlling the warning system 72 of the vehicle 1 (750).

In other words, when the angle between the predicted driving path 420 and the center line 430 at the point where the predicted driving path 420 passes through the center line 430 is close to a right angle, the driver assistance system 100 detects the vehicle in front (2) It can be expected that the vehicle will drive by crossing this center line.

In this case, the driver assistance system 100 determines the expected driving path 410 of the vehicle 1 based on the driving information of the vehicle 1 , and the expected driving path 410 of the vehicle 1 , according to an embodiment. ) and the expected driving path 420 of the vehicle 1 in front can be determined whether they overlap, and the vehicle 2 in front is predicted to make a U-turn crossing the center line 430 and the expected driving path 410 of the vehicle 1 . and a warning signal for controlling the warning system 72 of the vehicle 1 may be transmitted to the vehicle 1 only when the predicted driving path 420 of the vehicle 2 in front overlaps. That is, the driver assistance system 100 transmits a warning signal to the warning system 72 when there is no risk of collision because the expected driving paths 410 and 420 of the vehicle 1 and the vehicle 2 in front do not overlap. may not be done, and through this, it is possible to reduce driver fatigue due to unnecessary warnings.

8 is a flowchart illustrating a method of predicting a collision by detecting emergency steering of the vehicle 2 in front of the driver assistance system 100 according to an exemplary embodiment.

Referring to FIG. 8 , the driver assistance system 100 according to an embodiment may detect the vehicle in front 2 based on image data or radar data ( 810 ), and receives steering angle information from the vehicle in front ( 2 ). may (820). Also, the driver assistance system 100 may determine the predicted driving path 420 of the vehicle in front 2 based on the steering angle information ( 830 ).

Moreover, as described above, according to an embodiment, the driver assistance system 100 determines whether the vehicle in front of the vehicle 2 crosses the driving lane based on the image data between the vehicle 2 and the driving lane. It is also possible to determine the expected travel path of the vehicle 2 in front based on the angle.

That is, the processor 131 may be configured to, according to an embodiment, the predicted driving path of the front vehicle 2 based on at least one of the steering angle information received from the front vehicle 2 or the angle between the front vehicle 2 and the driving lane. can be decided In addition, the driver assistance system 100 may determine the expected driving path 420 by further considering the speed information of the front vehicle 2 in addition to the steering angle information or the angle information between the front vehicle 2 and the driving lane.

In the driver assistance system 100 according to an embodiment, the angle between the predicted driving path 420 of the vehicle in front and the center line 430 is equal to or greater than a set value (Yes in 840), and the predicted driving of the vehicle 1 is If the path 410 and the predicted driving path 420 of the vehicle 2 in front overlap (YES in 850 ), the possibility of collision between the vehicle 1 and the vehicle 2 in front may be determined ( 860 ).

That is, when the expected driving path 410 of the vehicle 1 and the expected driving path 420 of the front vehicle 2 overlap, the driver assistance system 100 provides the driving information of the vehicle 1 and the forward vehicle 2 ), calculates the expected collision time (Time to Collision, TTC) or Distance to Collision (DTC) with the vehicle in front (2) based on the driving information of can decide

The driver assistance system 100, according to an embodiment, controls the warning system 72 of the vehicle 1 when there is a possibility of a collision between the vehicle 1 and the vehicle 2 in front (Yes of 870 ). By transmitting a warning signal to the vehicle 1 ( 880 ), it is possible to warn the driver that there is a risk of collision with the vehicle 2 in front. At this time, the warning may be provided through a sound through a speaker, an image through a display, a warning light, etc., and may also be provided through vibration or reverse torque from the steering wheel.

In addition, the driver assistance system 100 may, according to an embodiment, activate the braking system 32 of the vehicle 1 when a potential collision between the vehicle 1 and the vehicle 2 in front exists (Yes in 870 ). By transmitting a controlling braking signal to the vehicle 1 (890), it is possible to prevent a collision by providing automatic braking without driver intervention.

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 32: braking system
61: communication module 72: warning system
100: driver assistance system 110: camera
120: radar 130: control unit
131: processor 132: memory

Claims (16)

A driver assistance system provided in a vehicle, comprising:
a camera provided in the vehicle to have an external view of the vehicle and acquiring image data;
a radar provided in the vehicle to have an external detection field of view for the vehicle and acquiring radar data; and
A control unit including at least one processor for processing the image data acquired by the camera and the radar data acquired by the radar;
The control unit is
When a vehicle ahead is detected based on at least one of the image data and the radar data, an expected driving path of the vehicle ahead is determined based on steering angle information received from the vehicle ahead through a communication module of the vehicle, and A driver assistance system for transmitting a warning signal for controlling a warning system of the vehicle to the vehicle when it is predicted that the vehicle in front will make a U-turn beyond a center line based on the predicted driving path of the vehicle in front. According to claim 1,
The control unit is
The driver assistance system predicts that the front vehicle will cross the center line and make a U-turn when the angle between the expected driving path of the vehicle in front and the center line is greater than or equal to a preset value. 3. The method of claim 2,
The control unit is
A driver assistance system that determines an expected driving path of the vehicle based on driving information of the vehicle, and determines whether the expected driving path of the vehicle overlaps the expected driving path of the vehicle in front. 4. The method of claim 3,
The control unit is
A driver assistance system for transmitting a warning signal for controlling a warning system of the vehicle to the vehicle when it is predicted that the vehicle in front will make a U-turn crossing a center line and the expected driving path of the vehicle overlaps the expected driving path of the vehicle in front. 4. The method of claim 3,
The control unit is
A driver assistance system that determines whether a collision is possible based on the driving information of the vehicle and the driving information of the vehicle in front when the expected driving path of the vehicle and the expected driving path of the vehicle in front overlap. 6. The method of claim 5,
The control unit is
When a collision between the vehicle and the vehicle in front is expected, the driver assistance system transmits a warning signal for controlling a warning system of the vehicle to the vehicle. 6. The method of claim 5,
The control unit is
A driver assistance system configured to transmit a braking signal for controlling a braking system of the vehicle to the vehicle when a collision between the vehicle and the vehicle in front is expected. According to claim 1,
The control unit is
When it is determined that the vehicle ahead crosses a driving lane based on the image data, the driver assistance system determines an expected driving path of the vehicle ahead based on an angle between the vehicle ahead and the driving lane. A camera provided in a vehicle, provided in the vehicle to have an external field of view of the vehicle, and obtaining image data, and a radar provided in the vehicle to have an external detection field of view for the vehicle and obtaining radar data A method for controlling a driver assistance system, comprising:
process the image data acquired by the camera and the radar data acquired by the radar;
when a vehicle ahead is detected based on at least one of the image data and the radar data, determining an expected driving path of the vehicle ahead based on steering angle information received from the vehicle ahead through a communication module of the vehicle;
Transmitting a warning signal for controlling a warning system of the vehicle to the vehicle when it is predicted that the vehicle ahead will make a U-turn beyond the center line based on the predicted driving path of the vehicle ahead; . 10. The method of claim 9,
and predicting that the front vehicle will make a U-turn crossing the center line when the angle between the expected driving path of the vehicle in front and the center line is greater than or equal to a preset value. 11. The method of claim 10,
determine an expected driving route of the vehicle based on the driving information of the vehicle;
The method of controlling a driver assistance system further comprising: determining whether the expected driving path of the vehicle overlaps the expected driving path of the vehicle in front. 12. The method of claim 11,
Transmitting a warning signal for controlling a warning system of the vehicle to the vehicle when it is predicted that the vehicle in front will make a U-turn crossing the center line and the expected travel path of the vehicle and the expected travel path of the vehicle in front overlap A method of controlling a driver assistance system comprising: 12. The method of claim 11,
and determining whether a collision is possible based on the driving information of the vehicle and the driving information of the vehicle in front when the expected driving path of the vehicle and the expected driving path of the vehicle in front overlap. Way. 14. The method of claim 13,
and transmitting a warning signal for controlling a warning system of the vehicle to the vehicle when a collision between the vehicle and the vehicle in front is expected. 14. The method of claim 13,
and transmitting a braking signal for controlling a braking system of the vehicle to the vehicle when a collision between the vehicle and the vehicle in front is expected. 10. The method of claim 9,
When it is determined that the vehicle in front crosses the driving lane based on the image data, determining an expected driving path of the vehicle in front based on an angle between the vehicle in front and the driving lane; A method of controlling auxiliary systems.

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