WO2022131786A1

WO2022131786A1 - Driver assistance system and control method thereof

Info

Publication number: WO2022131786A1
Application number: PCT/KR2021/019064
Authority: WO
Inventors: 박지열
Original assignee: 주식회사 만도모빌리티솔루션즈
Priority date: 2020-12-15
Filing date: 2021-12-15
Publication date: 2022-06-23
Also published as: KR20220085876A

Abstract

A driver assistance system according to an embodiment comprises: a driver camera for capturing a driver image including a face of a driver; and a control unit for tracking a head direction and a gaze direction of the driver from data of the driver image acquired by the driver camera, extending a detection area to be larger than a basic detection area on the basis of the tracked head direction and gaze direction, and controlling a vehicle by applying the extended detection area.

Description

Driver assistance system and its control method

The disclosed invention relates to a driver assistance system and a method for controlling the same.

Collisions between vehicles or collisions with obstacles that are directly related to the safety of vehicle occupants are always treated as important issues. Recently, many studies have been conducted on collision warning and avoidance between a preceding vehicle or a subsequent vehicle, and a state-of-the-art system for supporting a driver is mounted on the vehicle.

For example, a driver assistance system (DAS) is an adaptive cruise control (ACC) system that maintains a vehicle-to-vehicle distance from a preceding vehicle, or an automatic emergence braking (AEB) system that prevents a collision through emergency braking in dangerous situations. and the like.

Such a driver assistance system detects a forward obstacle existing within a detection area through a front camera or a front radar mounted on the vehicle.

The driver assistance system's ability to detect obstacles ahead and to determine an appropriate braking time is an important factor in system performance.

The detection area of the driver assistance system is set based on the front of the vehicle. This is based on the assumption that the driver's head and line of sight are directed toward the front of the vehicle.

However, there may be a risk of an accident when the driver cannot look directly at the front of the vehicle.

SUMMARY One aspect of the disclosed invention is to provide a driver assistance system capable of preventing an accident by adjusting a sensing area and alerting the driver to the driver's attention and a control method thereof when the driver does not stare straight ahead.

One aspect of the disclosed invention is a driver camera for capturing a driver image including the driver's face; and tracking the head direction and gaze direction of the driver from the driver image data obtained from the driver camera, and based on the tracked head direction and gaze direction, enlarges the detection area than the basic detection area, and applies the enlarged detection area A driver assistance system including a control unit for controlling the vehicle may be provided.

The control unit may be configured to detect any one of a front camera having a detection field of view facing the front of the vehicle, a radar having a detection field of view facing the front and side of the vehicle, and a lidar having a detection field facing the front of the vehicle, or at least The basic detection area may be set based on the detection field by the combination of the two, but may be set according to the speed and steering angle of the vehicle.

When the tracked head direction is the front direction of the vehicle, the controller may enlarge the sensing area than the basic sensing area based on the tracked gaze direction.

If the tracked gaze direction is the front direction of the vehicle, the control unit maintains the detection area as the basic detection area, and if not in the front direction, sets the detection area to be opposite to the tracked gaze direction in the basic detection area It can be enlarged to the enlarged area in the direction.

If the tracked head direction is not the front direction of the vehicle, the control unit may enlarge the sensing area than the basic sensing area based on the tracked head direction.

When the tracked head direction is within a preset angular range with respect to the front direction of the vehicle, the control unit may expand the detection area from the basic detection area to an area enlarged in the tracked head direction.

When the tracked head direction is out of the preset angular range with respect to the front direction of the vehicle, the control unit may expand the sensing area to an area enlarged to both sides from the basic sensing area.

When an obstacle exists in the enlarged sensing area, the controller may increase control sensitivity and control the vehicle by applying the increased control sensitivity.

The control unit may increase the control sensitivity by changing a distance to the obstacle used for the collision warning or a collision warning timing with the obstacle.

Another aspect of the disclosed invention is to obtain driver image data from a driver camera, track the driver's head direction and gaze direction based on the obtained driver image data, and detect a detection area based on the tracked head direction and gaze direction A control method of a driver assistance system for controlling a vehicle by enlarging the .

Before acquiring the driver image data, any one of a front camera having a detection field of view facing the front of the vehicle, a radar having a detection field of view facing the front and side of the vehicle, and a lidar having a detection field of view facing the front of the vehicle The basic detection area may be set based on one detection field or a detection field obtained by a combination of at least two, but may be set according to the speed and steering angle of the vehicle.

In enlarging the sensing area than the basic sensing area, if the tracked head direction is the front direction of the vehicle, the sensing area may be enlarged than the basic sensing area based on the tracked gaze direction.

In enlarging the sensing area than the basic sensing area, if the tracked gaze direction is the front direction of the vehicle, the sensing area is maintained as the basic sensing area, and if not in the front direction, the sensing area is set to the basic The detection area may be enlarged to an enlarged area in a direction opposite to the tracked gaze direction.

In enlarging the sensing area than the basic sensing area, if the tracked head direction is not the front direction of the vehicle, the sensing area may be enlarged than the basic sensing area based on the tracked head direction.

In enlarging the detection area than the basic detection area, if the tracked head direction is within a preset angle range with respect to the front direction of the vehicle, the detection area is enlarged from the basic detection area to the tracked head direction It can be enlarged to a given area.

In expanding the detection area than the basic detection area, when the tracked head direction is out of the preset angular range with respect to the front direction of the vehicle, the detection area is enlarged to both sides in the basic detection area can be enlarged to

In controlling a vehicle by applying the enlarged sensing area, if an obstacle exists in the enlarged sensing area, control sensitivity may be increased, and the vehicle may be controlled by applying the increased control sensitivity.

In increasing the control sensitivity, the control sensitivity may be increased by changing the distance to the obstacle used for the collision warning or the timing of the collision warning with the obstacle.

According to one aspect of the disclosed invention, when the driver does not stare straight ahead, the detection area may be adjusted to prevent an accident and call the driver's attention.

1 illustrates a control block of a driver assistance system according to an embodiment.

2 shows a front camera, a radar and a driver camera of a driver assistance system according to an embodiment.

3 illustrates tracking a direction of a driver's head in a driver assistance system according to an embodiment.

4 illustrates tracking of a driver's gaze direction in a driver assistance system according to an exemplary embodiment.

5 illustrates a basic detection area and an expandable detection area in the driver assistance system according to an exemplary embodiment.

6 illustrates a control method of a driver assistance system according to an exemplary embodiment.

7 is a diagram illustrating a sensing area when both a head direction and a gaze direction of a driver are a front direction in the driver assistance system according to an exemplary embodiment.

8 is a diagram illustrating a sensing area when the driver's head direction is the front direction and the gaze direction is the right direction instead of the front direction in the driver assistance system according to an exemplary embodiment.

9 is a diagram illustrating a sensing area when a driver's head is a front direction and a gaze direction is a left direction instead of a front direction in the driver assistance system according to an exemplary embodiment.

10 is a diagram illustrating a detection area when the driver's head is in a right direction instead of a frontal direction in the driver assistance system according to an exemplary embodiment.

11 is a diagram illustrating a detection area when a driver's head direction is a left direction instead of a front direction in the driver assistance system according to an exemplary embodiment.

12 illustrates a sensing area when the driver's head is in the rightmost direction instead of the front direction in the driver assistance system according to an exemplary embodiment.

13 illustrates a sensing area when the driver's head direction is the leftmost direction instead of the front direction in the 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” with another part, it includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

In addition, when a part "includes" a certain component, this 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 two members.

Terms such as 1st, 2nd, etc. are used to distinguish one component from another component, 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.

Referring to FIG. 1 , the driver assistance system 100 may include a front camera 110 , a front radar 120 , a corner radar 130 , a behavior sensor 140 , a driver camera 150 , and a controller 200 . can The front camera 110 , the front radar 120 , the corner radar 130 , the behavior sensor 140 , and the driver camera 150 may be electrically connected to the controller 200 .

The controller 200 may control the front camera 110 , the front radar 120 , the corner radar 130 , the behavior sensor 140 , and the driver camera 150 .

Each of the front camera 110 , the front radar 120 , the corner radar 130 , the behavior sensor 140 , and the driver camera 150 may include an Electronic Control Unit (ECU). The control unit 200 is an integrated controller including a controller of the front camera 110 , a controller of the front radar 120 , a controller of the corner radar 130 , a controller of the behavior sensor 140 , and a controller of the driver camera 150 . may be implemented.

The front camera 110 may acquire image data by photographing the front and periphery of the vehicle, and may identify other vehicles, pedestrians, cyclists, lanes, 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 front camera 110 may be electrically connected to the controller 200 . For example, the front camera 110 is connected to the control unit 200 through a vehicle communication network, connected to the control unit 200 through a hard wire, or a printed circuit board (PCB). It can be connected to the control unit 200 through the. The front camera 110 may transmit image data to the controller 200 .

The front radar 120 and the corner radar 130 may acquire the relative positions, relative speeds, etc. of objects (eg, other vehicles, pedestrians, etc.) existing in front and around the vehicle. The front radar 120 and the corner radar 130 may be connected to the control unit 200 through a vehicle communication network 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 . Meanwhile, radars may be implemented as Lidar.

The behavior sensor 140 may acquire behavior data of the vehicle. For example, the behavior sensor 140 includes a speed sensor that detects the speed of a wheel, an acceleration sensor that detects lateral acceleration and longitudinal acceleration of the vehicle, a yaw rate sensor that detects a change in angular velocity of the vehicle, and a vehicle inclination that detects the inclination of the vehicle. It may include a gyro sensor and/or a steering angle sensor that detects rotation and steering angle of the steering wheel. The behavior data may include vehicle speed, longitudinal acceleration, lateral acceleration, steering angle, driving direction, yaw rate and/or inclination.

The driver camera 150 may acquire image data by photographing a driver image including the driver's face.

The driver camera 150 may be installed on a front windshield, instrument panel, center fascia, A pillar, or the like of the vehicle to capture a driver image.

The driver camera 150 may be implemented as an infrared camera including an image sensor and an infrared filter. In addition, one or more driver cameras 150 may be installed.

The driver camera 150 may be electrically connected to the controller 200 . For example, the driver camera 150 is connected to the control unit 200 through a vehicle communication network, connected to the control unit 200 through a hard wire, or a printed circuit board (PCB). It can be connected to the control unit 200 through the.

The driver camera 10 may transmit image data for detecting the driver's face region to the controller 200 .

The control unit 200 includes a processor 210 and a memory 220 . 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 chip 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 front image data of the front camera 110 , front radar data of the front radar 120 , corner radar data of the corner radar 130 , and driver image data of the driver camera 150 . Also, the processor 210 may generate a control signal for controlling the electronic devices of the vehicle.

For example, the processor 210 may include an image signal processor that processes front image data of the front camera 110 and driver image data of the driver camera 150 , and radar data of the

radars

120 and 130 . It may include a digital signal processor for processing. Also, the processor 210 may include a micro control unit (MCU).

The memory 220 may store a program and/or data for the processor 210 to process the front image data and the driver image data. The memory 220 may store a program and/or data for the processor 210 to process radar data. In addition, the memory 220 may store a program and/or data for the processor 210 to generate a control signal for the electronic devices of the vehicle.

The memory 220 may temporarily store front image data received from the front camera 110 , driver image data received from the driver camera 150 , 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.

Referring to FIG. 2 , the front camera 110 may have a field of view 110a facing the front of the vehicle 1 . For example, the front camera 110 may be installed on the front windshield, side mirror, A-pillar, B-pillar, C-pillar, and rear window of the vehicle 1 .

The front camera 110 may photograph the front of the vehicle 1 and acquire image data of the front of the vehicle 1 . The front image data may include location information about other vehicles or pedestrians 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 driver camera 150 may have a field of sensing 150a facing the driver in the vehicle 1 . For example, the driver's camera 150 may be installed on the front windshield, instrument panel, center fascia, A pillar, or the like of the vehicle 1 . The driver camera 150 may photograph the driver and acquire driver image data. The driver image data may include information about the driver's head direction and gaze direction.

The processor 210 detects objects (eg, other vehicles, pedestrians, etc.) in front of the vehicle 1 based on the front image data of the front camera 110 and the front radar data of the front radar 120 and/or Alternatively, it can be identified, and position information (distance and direction) and speed information (relative speed) of objects in front of the vehicle 1 can be obtained. 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).

The processor 210 uses a head direction tracking algorithm and a gaze direction tracking algorithm based on the driver image data captured by the driver camera 150, and the driver's head direction and gaze direction can be tracked.

The head direction tracking algorithm may track the head direction of the driver based on the driver image received from the driver camera 150 . The head direction may be output as an angle based on the x, y, and z axes from any reference point in the interior of the vehicle 1 . The reference point may be any part fixed inside the vehicle 1 , such as an installation position of the driver's camera 150 , a rear-view mirror position, and the like. The reference point may be an installation position of the driver's camera 150 in order to reduce the amount of calculation.

The gaze direction tracking algorithm may track the driver's gaze direction based on the driver image received from the front camera 150 . The gaze direction may be output as an angle based on the x, y, and z axes. The reference point may be any part fixed inside the vehicle 1 such as the installation position of the front camera 15 and the rearview mirror position, but may be the installation position of the front camera 150 in order to reduce the amount of calculation.

It is possible to obtain the driver's pupil center coordinates through the front camera 150, obtain the installation position coordinates of the driver's camera 150, and estimate the driver's gaze direction from the driver's pupil coordinates and the installation position coordinates of the camera 10 . The driver's pupil may be detected by obtaining pupil center coordinates from the eye image obtained from the front camera 150 using an image processing technique. An image processing technique for detecting the pupil follows a known technique. For example, an eye image is converted to a gray level in a three-channel region of RGB color, the eye image converted to a gray level is binarized to an appropriate boundary value, and the pupil region is found by removing noise from the binarized image, and ellipse fitting to find the center of the pupil.

Referring to FIG. 3 , the driver's head direction is determined between 0° and 180°.

Fθ1, Fθ2, Fθ3 and Fθ4 are angles between 0° and 180°.

Fθ1, Fθ2, Fθ3, and Fθ4 have higher angle values from 0° to 180°.

If the direction of the driver's head is within an angle range between Fθ2 to Fθ3, it is determined that the driver's head faces the front.

If the direction of the driver's head is within the angular range between Fθ1 and Fθ2, it is determined that the driver's head is directed to the left rather than the front.

If the direction of the driver's head is within the angle range between Fθ3 and Fθ4, it is determined that the driver's head is directed to the right rather than the front.

If the direction of the driver's head is within an angle range between 0° and Fθ1, it is determined that the driver's head is directed to the leftmost side rather than the front.

If the direction of the driver's head is within the angle range between Fθ4 and 180°, it is determined that the driver's head is directed to the far right instead of the front.

The driver's gaze direction is determined between 0° and 180°.

Gθ1 and Gθ2 are angles between 0° and 180°.

Gθ1 and Gθ2 have higher angle values from 0° to 180°.

If the driver's gaze direction is within an angle range between Gθ1 and Gθ2, it is determined that the driver's gaze is directed to the front.

If the driver's gaze direction is within an angle range between 0° and Gθ1, it is determined that the driver's gaze is directed to the left rather than the front.

If the driver's gaze direction is within an angle range between Gθ2 and 180°, it is determined that the driver's gaze is directed to the right rather than the front.

The head direction tracking result and the gaze direction tracking result may be used as information for expanding the detection area of the system.

Referring to FIG. 5 , the basic detection area is defined as a detection area previously used in the system, and the expandable detection area is defined as the maximum detection area enlarged based on the driver's head direction and gaze direction in the basic detection area.

The basic detection area may be set according to the speed of the vehicle and the steering angle of the steering wheel.

The basic detection area is determined depending on the vehicle speed and the steering angle based on any one of the detection field of view 110a of the front camera 110 and the detection field of view 130-1a to 130-4a of the

radars

120 and 130, or two It can be determined according to the vehicle speed and steering angle based on the area where the dog is fused.

The expandable sensing area is an area in which the basic sensing area is enlarged.

The expandable detection area is limited by the area determined by any one of the detection field of view 110a of the front camera 110 and the detection field of view 130-1a and 130-2a of the

radar

120, 130, or two It may be limited by the fused region.

Referring to FIG. 6 , the controller 200 receives driver image data from the driver camera 150 ( 300 ).

The controller 200 tracks the direction of the driver's head based on the driving image data received from the driver's camera 150 ( 302 ).

The controller 200 determines whether the driver's face is gazing at the front based on the tracked head direction ( 304 ). When the direction of the driver's head is within an angle range between Fθ2 to Fθ3, the controller 200 determines that the driver's face faces the front.

When the driver's face gazes at the front, the controller 200 tracks the driver's gaze direction ( 306 ).

The controller 200 determines whether the driver's gaze gazes at the front based on the tracked gaze direction ( 308 ).

When the driver's gaze gazes at the front, the control unit 200 maintains the current sensing area of the system ( 310 ). It maintains the default detection area, which is the detection area set in the system.

Referring to FIG. 7 , when the driver's head direction and the gaze direction are both front directions (Fθ2 to Fθ3 and Gθ1 to Gθ2), the basic sensing area is maintained.

Referring back to FIG. 6 , if the driver's gaze does not stare at the front, the controller 200 enlarges the sensing area according to the driver's gaze direction ( 312 ).

8 is a diagram illustrating a detection area when a driver's head direction is a frontal direction and a gaze direction is a right direction instead of a frontal direction in the driver assistance system according to an embodiment, and FIG. The detection area is shown when the driver's head is in the front direction and the gaze direction is in the left direction instead of the front direction.

Referring to FIG. 8 , if the driver's head direction is the front direction (Fθ2 to Fθ3) and the gaze direction is the right direction (Gθ2 to 180°) rather than the front direction (Gθ1 to Gθ2), the basic sensing area is opposite to the gaze direction The sensing area is expanded to the entire sensing area to which the unidirectionally enlarged sensing area is added.

9, if the driver's head direction is the front direction (Fθ2 to Fθ3) and the gaze direction is the left direction (0° to Gθ1) instead of the front direction (Gθ1 to Gθ2), the basic sensing area includes the gaze direction and The sensing area is expanded to the entire sensing area to which the sensing area enlarged in one direction, which is the sensing area in the opposite direction, is added.

Referring back to FIG. 6 , if the driver's face does not stare at the front, the controller 200 enlarges the sensing area according to the direction of the driver's head ( 314 ).

Referring to FIG. 10 , when the driver's head is in the right direction (Fθ3 to Fθ4) instead of the front direction, the sensing area in the right direction in which the driver turns the face is enlarged.

Referring to FIG. 11 , when the driver's head is in the left direction (Fθ1 to Fθ2) rather than the front direction, the sensing area in the left direction in which the driver turns the face is enlarged.

12 shows a detection area when the driver's head direction is the rightmost direction instead of the front direction in the driver assistance system according to an embodiment, and FIG. 13 is a front view of the driver's head direction in the driver assistance system according to the embodiment In the case of the leftmost direction instead of the direction, the sensing area is shown.

12 and 13 , if the driver's head is in the rightmost direction (Fθ4 to 180°) not in the front direction, or the driver's head is in the leftmost direction (0° to Fθ1) other than the front direction, the default Both the right and left areas of the sensing area are expanded. The total detection area is the sum of the basic detection area, the detection area extended to the right, and the detection area extended to the left.

Referring back to FIG. 6 , when maintaining the basic sensing area, the controller 200 determines whether an obstacle exists in the sensing region ( 316 ), and if there is an obstacle in the sensing region, maintains the current control sensitivity.

When the sensing area is enlarged, the controller 200 determines whether an obstacle exists in the enlarged sensing area ( 320 ), and if there is an obstacle in the enlarged sensing area, increases the control sensitivity ( 322 ). Thereafter, the controller 200 controls the vehicle by applying the increased control sensitivity. For example, the control sensitivity may be adjusted by shortening or lengthening the distance to the obstacle used for the collision warning, or advancing or delaying the timing of the collision warning with the obstacle.

As described above, the disclosed invention can prevent an accident and call attention to the driver by adjusting the sensing area when the driver does not stare straight ahead.

In the above-described embodiment, it has been described that the detection area is enlarged in one direction or in both directions according to the head direction when the face does not stare at the front, but the present invention is not limited thereto. According to the gaze direction, the sensing area may be unidirectionally enlarged in the opposite direction to the gaze direction.

Claims

a driver camera that captures a driver image including the driver's face; and

The driver's head direction and gaze direction are tracked from the driver image data obtained from the driver camera, and the detection area is enlarged from the basic detection area based on the tracked head direction and gaze direction, and the enlarged detection area is applied. A driver assistance system comprising a control unit for controlling the vehicle.
According to claim 1,

The control unit may be configured to detect any one of a front camera having a detection field of view facing the front of the vehicle, a radar having a detection field facing to the front and side of the vehicle, and a lidar having a detection field facing the front of the vehicle, or at least A driver assistance system that sets the basic detection area based on the detection field of view by a combination of the two, but sets according to the speed and steering angle of the vehicle.
The method of claim 1,

If the tracked head direction is the front direction of the vehicle, the controller expands the detection area based on the tracked gaze direction than the basic detection area.
4. The method of claim 3,

If the tracked gaze direction is the front direction of the vehicle, the control unit maintains the detection area as the basic detection area, and if not in the front direction, sets the detection area to be opposite to the tracked gaze direction in the basic detection area Driver assistance system that expands to an enlarged area in the direction.
According to claim 1,

When the tracked head direction is not the frontal direction of the vehicle, the controller expands the sensing area based on the tracked head direction than the basic sensing area.
6. The method of claim 5,

If the tracked head direction is within a preset angular range with respect to the front direction of the vehicle, the controller expands the detection area from the basic detection area to an area enlarged in the tracked head direction.
7. The method of claim 6,

When the tracked head direction is out of the preset angular range with respect to the front direction of the vehicle, the control unit expands the sensing area from the basic sensing area to an area enlarged to both sides.
According to claim 1,

The control unit increases control sensitivity when an obstacle exists in the enlarged sensing area, and controls the vehicle by applying the increased control sensitivity.
9. The method of claim 8,

The control unit increases the control sensitivity by changing a distance to the obstacle used for the collision warning or a collision warning timing with the obstacle.
Acquire driver image data from the driver camera,

tracking the driver's head direction and gaze direction based on the obtained driver image data,

Based on the tracked head direction and gaze direction, the detection area is enlarged than the basic detection area,

A control method of a driver assistance system that controls a vehicle by applying an enlarged detection area.
11. The method of claim 10,

Before acquiring the driver image data, any one of a front camera having a detection field of view facing the front of the vehicle, a radar having a detection field of view facing forward and side of the vehicle, and a lidar having a detection field of view facing the front of the vehicle A method of controlling a driver assistance system in which the basic detection area is set based on one detection field or a detection field obtained by a combination of at least two, but is set according to a speed and a steering angle of the vehicle.
11. The method of claim 10,

In enlarging the detection area than the basic detection area, if the tracked head direction is the front direction of the vehicle, controlling the driver assistance system to enlarge the detection area than the basic detection area based on the tracked gaze direction Way.
13. The method of claim 12,

In enlarging the sensing area than the basic sensing area, if the tracked gaze direction is the front direction of the vehicle, the sensing area is maintained as the basic sensing area; A control method of a driver assistance system for expanding a detection area to an area enlarged in a direction opposite to the tracked gaze direction.
11. The method of claim 10,

In expanding the detection area than the basic detection area, if the tracked head direction is not the front direction of the vehicle, the driver assistance system for expanding the detection area than the basic detection area based on the tracked head direction control method.
15. The method of claim 14,

In enlarging the detection area than the basic detection area, if the tracked head direction is within a preset angular range with respect to the front direction of the vehicle, the detection area is enlarged from the basic detection area to the tracked head direction A control method of the driver assistance system that expands to the designated area.
16. The method of claim 15,

In enlarging the detection area than the basic detection area, if the tracked head direction is out of the preset angular range with respect to the front direction of the vehicle, the detection area is enlarged to both sides in the basic detection area Control method of driver assistance system that expands to
11. The method of claim 10,

In controlling a vehicle by applying the enlarged sensing area, when an obstacle exists in the enlarged sensing area, control sensitivity is increased and the vehicle is controlled by applying the increased control sensitivity.
18. The method of claim 17,

In increasing the control sensitivity, the control method of the driver assistance system to increase the control sensitivity by changing a distance to the obstacle used for a collision warning or a collision warning timing with the obstacle.