Driving assistance method and driving assistance device

Abstract

The present embodiments relate to a driving assistance method and a driving assistance device. In one aspect, the present embodiments may provide a driving assistance method and a driving assistance device comprising: a setting step of setting a free space area in front of a vehicle based on at least one of lane information and surrounding object information obtained using a sensor equipped in a vehicle; a judgment step of selecting a target object based on a change in the free space area, calculating an expected collision time for the target object, and determining whether to perform emergency braking by comparing the expected collision time with a preset braking time; and a control step of generating and outputting an emergency braking signal if it is determined that emergency braking is required.

Description

Technology Field

[0001] The present embodiments relate to a driving assistance method and a driving assistance device. Background Technology

[0002] Generally, a vehicle's Autonomous Emergency Braking (AEB) system is designed to prevent collision accidents by warning the driver of a collision risk or performing automatic braking if necessary, based on the risk level of collision with detected hazardous obstacles—such as preceding moving objects (including cars) or external objects (moving people including pedestrians, and static facilities like sidewalks, guardrails, and curbs)—when such obstacles are detected in front of the vehicle while driving. As the system is increasingly being applied and standardized in recent years, there is a growing demand for both expanded usability, enabling operation in more scenarios than existing AEB systems, and the assurance of safety to prevent collisions.

[0003] However, existing AEB systems may trigger unnecessary warnings and emergency braking by recognizing vehicles in other lanes or pedestrians outside the lane while driving. Furthermore, if an unlearned object is present in front of the vehicle, existing AEB systems may fail to recognize it, resulting in a lack of warnings and emergency braking, which could lead to collisions.

[0004] Therefore, there is a need to develop driving assistance methods and driving assistance devices that can prevent unnecessary warnings and emergency braking, and perform warnings and emergency braking by recognizing unlearned objects. The problem to be solved

[0005] The embodiments provide a driving assistance method and a driving assistance device that prevent unnecessary warnings and emergency braking by selecting a target object based on changes in a free space area set in front of the vehicle and determining whether to perform emergency braking, and can perform warnings and emergency braking by recognizing an unlearned object. means of solving the problem

[0006] In one aspect, the embodiments may provide a driving assistance method comprising: a setting step of setting a free space area in front of a vehicle based on at least one of lane information and surrounding object information obtained using a sensor equipped in a vehicle; a judgment step of selecting a target object based on a change in the free space area, calculating an expected collision time for the target object, and determining whether to perform emergency braking by comparing the expected collision time with a preset braking time; and a control step of generating and outputting an emergency braking signal if it is determined that emergency braking is required.

[0007] In another aspect, the embodiments may provide a driving assistance device comprising: a setting unit that sets a free space area in front of a vehicle based on at least one of lane information and surrounding object information obtained using a sensor equipped in the vehicle; a judgment unit that selects a target object based on a change in the free space area, calculates an estimated collision time for the target object, and determines whether to perform emergency braking by comparing the estimated collision time with a preset braking time; and a control unit that generates and outputs an emergency braking signal if it is determined that emergency braking is required. Effects of the invention

[0008] According to the embodiments, a driving assistance method and a driving assistance device can be provided that prevent unnecessary warnings and emergency braking by selecting a target object based on changes in a free space area set in front of the vehicle and determining whether to perform emergency braking, and can perform warnings and emergency braking by recognizing an unlearned object. Brief explanation of the drawing

[0009] FIG. 1 is a flowchart illustrating a driving assistance method according to the embodiments thereof. FIG. 2 is a flowchart showing the operation when the driving lane is changed to a curved section in the driving assistance method according to the embodiments. FIG. 3 is a flowchart exemplarily illustrating the process of selecting a target object in a driving assistance method according to the embodiments. FIG. 4 is a diagram exemplarily illustrating a situation in which driving is possible along a free space area of ​​the driving assistance method according to the embodiments. FIG. 5 is a diagram exemplifying a situation in which driving assistance methods according to the embodiments cannot drive along a free space area. FIG. 6 is a flowchart illustrating the operation in the case where an unlearned object exists in front of the driving assistance method according to the embodiments. FIG. 7 is a diagram exemplarily illustrating a situation in which an unidentified object exists in front of the driving assistance method according to the embodiments. FIG. 8 is a flowchart illustrating an avoidance driving operation when there is another drivable lane in the driving assistance method according to the embodiments. FIG. 9 is a diagram exemplifying a situation in which there is another drivable lane for the driving assistance method according to the embodiments. FIG. 10 is a flowchart illustrating the operation in the case of another vehicle approaching an extended free space area in the driving assistance method according to the embodiments of the present invention. FIG. 11 is a diagram illustrating an exemplary situation in which another vehicle approaches the extended free space area of ​​the driving assistance method according to the embodiments. FIG. 12 is a block diagram showing a driving assistance device according to the embodiments. Specific details for implementing the invention

[0010] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. In assigning reference numerals to the components of each drawing, the same components may have the same reference numeral as much as possible, even if they are shown in different drawings. Furthermore, in describing the embodiments, if it is determined that a detailed description of related known components or functions may obscure the essence of the technical concept, such detailed description may be omitted. Where terms such as "comprising," "having," or "consisting of" are used in this specification, other parts may be added unless "only" is used. Where a component is expressed in the singular, it may include a plural unless otherwise specified.

[0011] Additionally, terms such as first, second, A, B, (a), (b), etc., may be used to describe the components of the present disclosure. These terms are used merely to distinguish the components from other components, and the nature, order, sequence, or number of the components are not limited by such terms.

[0012] In describing the positional relationship of components, where it is stated that two or more components are "connected," "combined," or "joined," it should be understood that while the two or more components may be directly "connected," "combined," or "joined," they may also be "connected," "combined," or "joined" with other components "intervened." Here, the other components may be included in one or more of the two or more components that are "connected," "combined," or "joined" with one another.

[0013] In describing the temporal flow relationship regarding components, methods of operation, or methods of production, for example, when the temporal or sequential relationship is described using "after," "following," "next," or "before," it may include cases where the relationship is not continuous unless "immediately" or "directly" is used.

[0014] Meanwhile, where numerical values ​​or corresponding information regarding a component (e.g., levels, etc.) are mentioned, even without separate explicit notation, the numerical values ​​or corresponding information may be interpreted as including a range of error that may occur due to various factors (e.g., process factors, internal or external shocks, noise, etc.).

[0015] FIG. 1 is a flowchart illustrating a driving assistance method according to the embodiments thereof.

[0016] Referring to FIG. 1, the driving assistance method according to the embodiments may include a setting step of setting a free space area in front of the vehicle based on at least one of lane information and surrounding object information obtained using a sensor provided in the vehicle (S100).

[0017] Sensors equipped in a vehicle may be optical sensors that detect by transmitting and receiving light signals, such as cameras or LiDAR (Light Detection And Range), or sensors that detect by transmitting and receiving electromagnetic or sound signals, such as radar (Radio Detection And Ranging) or ultrasonic. However, this is not limited thereto, and sensors equipped in a vehicle should be interpreted to include any type of sensor capable of detecting lanes, pedestrians, vehicles, objects, etc., and may be equipped in combination of multiple sensors.

[0018] In addition, the sensors equipped in the vehicle may additionally include sensors for monitoring the vehicle's driving status. For example, the sensors may include a steering angle sensor, a yaw rate sensor, a brake sensor, an accelerator sensor, etc.

[0019] Lane information may include, but is not limited to, information on the driving lane in which the vehicle is currently traveling. For example, lane information may include information on other lanes in which the vehicle can travel, such as left lane information and right lane information.

[0020] Surrounding object information may include information about all objects existing around the vehicle. For example, surrounding object information may include information about objects existing in front of the driving lane as objects identified by pre-stored training data, as well as objects existing in other lanes, or objects existing on one side in front, to the side, or to one side rear of the vehicle. However, it is not limited thereto, and surrounding object information may also include information about objects not identified by pre-stored training data.

[0021] The free space area can be set based on signals transmitted from sensors equipped in the vehicle, and can be set as an area up to a preset distance from the vehicle.

[0022] The setting step may set a free space area in front of the vehicle based on at least one of lane information and surrounding object information, and may change the previously set free space area based on the changed lane information or surrounding object information. The area in front of the vehicle where the free space area is set may refer to the area in front within the driving lane. However, the free space area may be set by extending it to include not only the area in front of the vehicle within the driving lane but also other lanes, extending to the front, side, and rear of one side of the vehicle.

[0023] Referring to FIG. 1, the driving assistance method according to the embodiments may include a determination step of selecting a target object based on a change in the free space area, calculating an expected collision time for the target object, and determining whether to perform emergency braking by comparing the expected collision time with a preset braking time (S102).

[0024] For example, the judgment step can select a target object based on a change in the free space area to a curve. For instance, if the setting step confirms from lane information that the driving lane has changed to a curved section, it sets the free space area to correspond to the curved section, and the judgment step determines whether the vehicle can drive along the set free space area and selects a target object based on the result of the judgment.

[0025] In this case, if the judgment step determines that the vehicle can drive along the variable-set free space area, it may set the vehicle's driving path along the variable-set free space area and select a front object located outside the variable-set free space area on the driving path as a target object. On the other hand, if the judgment step determines that the vehicle cannot drive along the variable-set free space area, it may set the vehicle's driving path based on the yaw rate sensor value provided inside the vehicle and select a front object located on the driving path as a target object.

[0026] As another example, the judgment step can select a target object based on a change in the reduced free space area. For instance, if the setting step confirms from surrounding object information that there is an object in front of the vehicle that is not identified by pre-stored training data, it sets a variation so that the free space area decreases as the distance between the vehicle and the object decreases, and the judgment step can select the object in front of the varied free space area as the target object.

[0027] The judgment step can calculate the Time To Collision (TTC) for the selected target object. The Time To Collision (TTC) is the time it takes for the vehicle and the target object to collide with each other. If the target object is a stationary object, it can be calculated based on the vehicle's speed and the distance between the vehicle and the target object, and if the target object is a moving object, it can be calculated based on the distance between the vehicle and the target object and the relative speed.

[0028] The judgment step can determine whether emergency braking is required by comparing the calculated estimated collision time with a preset braking time. The preset braking time may refer to the time during which a moving vehicle can be braked without colliding with another vehicle. The judgment step determines that emergency braking is not necessary if the estimated collision time is longer than or equal to the braking time, and determines that emergency braking is necessary if the estimated collision time reaches the braking time.

[0029] Referring to FIG. 1, the driving assistance method according to the embodiments may include a control step of generating and outputting an emergency braking signal when it is determined that emergency braking is required (S104).

[0030] The control stage may not only generate and output an emergency braking signal when it is determined that emergency braking is necessary, but may also additionally generate and output a warning message to the driver of the vehicle. However, it is not limited to this, and the control stage may also generate and output an evasive driving signal.

[0031] For example, if there is an object in front of the vehicle that is not identified by pre-stored training data, the setting step expands the free space area to include the other lane if it is confirmed from the lane information that there is another drivable lane, the judgment step determines whether to evade into the other lane based on the change in the expanded free space area if the estimated collision time is longer than the braking time required, and the control step may generate and output an evasion driving signal if it is determined that evasion driving is possible.

[0032] In this case, the setting step sets the expanded free space area to decrease as the distance between the vehicle and the other vehicle decreases when it is confirmed that there is another vehicle approaching the expanded free space area; the judgment step calculates the probability of collision with another vehicle during evasive driving based on the reduced area of ​​the expanded free space area, and can determine whether to perform emergency braking or evasive driving based on the probability of collision, and the control step can output an emergency braking signal or an evasive driving signal.

[0033] The driving assistance method according to the embodiments selects a target object based on changes in the free space area set in front of the vehicle and determines whether to issue a warning and emergency braking, thereby preventing unnecessary automatic emergency braking and can recognize an unlearned object to issue a warning and emergency braking.

[0034] Below, various embodiments of individual steps in the driving assistance method described above will be explained with reference to the drawings.

[0035] FIG. 2 is a flowchart showing the operation when the driving lane is changed to a curved section in the driving assistance method according to the embodiments.

[0036] Referring to FIG. 2, the setting step checks whether the driving lane changes into a curved section from the lane information (S200), and if it is confirmed that the driving lane has changed into a curved section, the free space area can be changed to correspond to the curved section (S202).

[0037] That is, the free space area is set as a rectangular shape in front of the vehicle within the driving lane when the driving lane is a straight section based on lane information, and as the driving lane changes from a straight section to a curved section, the previously set rectangular shape can be set by changing into a curved shape.

[0038] In this case, the judgment step determines whether the vehicle can drive along a free space area that is set to vary to correspond to a curved section (S204), and can select a target object based on the result of the judgment (S204).

[0039] Conventional driving assistance methods for emergency braking uniformly selected target objects based on yaw rate sensor values. Consequently, when selecting target objects based on yaw rate sensor values, there was a problem in that when a vehicle entered a curved section, an object located in front of the steered vehicle—that is, an object in another lane—was selected as the target object, even though the vehicle could have driven along the curve, leading to unnecessary warnings and automatic emergency braking.

[0040] However, the driving assistance method according to the present embodiment determines whether driving is possible based on a free space area that is set to vary to correspond to the curved section when the vehicle's driving lane enters a curved section, and selects a different target object accordingly, thereby preventing unnecessary warnings and automatic emergency braking.

[0041] Hereinafter, with reference to FIGS. 3 to 5, a specific embodiment is described in which a target object is selected differently depending on whether driving is possible based on a free space area that is variably set to correspond to a curved section.

[0042] FIG. 3 is a flowchart exemplifying the process of selecting a target object in the driving assistance method according to the present embodiments. FIG. 4 is a diagram exemplifying a situation in which driving is possible along the free space area of ​​the driving assistance method according to the present embodiments. FIG. 5 is a diagram exemplifying a situation in which driving is not possible along the free space area of ​​the driving assistance method according to the present embodiments.

[0043] Referring to FIG. 3, the judgment step determines whether it is possible to drive along a free space area that is set to vary to correspond to a curved section (S300), and based on the judgment result, the target object can be set differently.

[0044] Referring to FIGS. 3 and 4, if the determination step determines that the vehicle (402) can drive along the variable-set free space area (408), the driving path (410) of the vehicle can be set along the variable-set free space area (408) (S302).

[0045] That is, in the judgment step, if the area of ​​the variable-set free space area (408) is not reduced when compared to the area of ​​the free space area previously set in the straight section, it is determined that the vehicle (402) can drive along the variable-set free space area (408), and thus the driving path (410) of the vehicle (402) can be set.

[0046] In this case, the judgment step may select a forward object located outside the variable-set free space area (408) on the driving path (410) as the target object (S304).

[0047] Referring to FIG. 4, when a vehicle's driving path (410) is set along a variable free space area (408), the target object can be selected as another vehicle (404) located outside the variable free space area (408), that is, ahead of the end of the variable free space area (408), and it can prevent another vehicle (406) located in a different lane from being selected as the target object.

[0048] On the other hand, referring to FIGS. 3 and FIGS. 5, if the determination step determines that the vehicle (502) cannot drive along the variable set free space area (508), the driving path (510) of the vehicle (502) can be set based on the yaw rate sensor value provided inside the vehicle (502) (S306).

[0049] Referring to FIG. 5, the judgment step can determine that driving along the variable-set free space area (508) is not possible if the area of ​​the variable-set free space area (508) is reduced compared to the area of ​​the free space area previously set in the straight section.

[0050] FIG. 5 illustrates a case where the shape of the variable-set free space area (508) is changed and the area is reduced as the lane at the end of the curved section of the driving lane merges with another lane to become one lane. However, it is not limited to this, and the judgment step may determine that driving along the variable-set free space area (508) is not possible even when the length of the variable-set free space area (508) is changed and the area is reduced due to the presence of a stationary object, such as a construction sign, a stationary vehicle, or a pedestrian within the curved section of the driving lane.

[0051] If it is determined that the vehicle (502) cannot drive along the variable-set free space area (508), the driving path (510) can be set based on the yaw rate sensor value provided inside the vehicle (502). The yaw rate sensor value is a value representing the state of rotation relative to the center vertical axis of the vehicle (502), having a value of 0 when the vehicle drives in a straight section, and having a non-zero value depending on the rotation state of the vehicle when driving in a curved section.

[0052] As illustrated in FIG. 5, since the vehicle (502) cannot drive along the variable-set free space area (508), the driving path (510) can be set to face a lane other than the driving lane.

[0053] In this case, the judgment step may select a forward object located on the driving path (510) as the target object (S308). Accordingly, only when the vehicle (502) cannot drive along the free space area (508) set as a curved section, the target object may be selected as a forward object located on the driving path (510) set based on the yaw rate sensor value provided inside the vehicle, that is, another vehicle (506) located in a lane other than the driving lane.

[0054] As described above, the judgment step can determine whether emergency braking is necessary by setting a driving path (410, 510) based on whether driving is possible along the variable set free space area (408, 508), and by selecting a different target object based on this (S310). If it is determined in the judgment step that emergency braking is necessary, the control step can generate and output an emergency braking signal (S312).

[0055] Therefore, since the target object is selected differently depending on whether it can be driven along the variable set free space area (408, 508), the accuracy of calculating the expected collision time for the target object can be improved, and the efficiency of control for warning and emergency braking can be improved.

[0056] FIG. 6 is a flowchart illustrating the operation in the case where an unlearned object exists in front of the driving assistance method according to the embodiments of the present. FIG. 7 is a diagram exemplarily illustrating a situation in which an unidentified object exists in front of the driving assistance method according to the embodiments of the present.

[0057] Referring to FIGS. 6 and 7, the setting step checks whether there is an object (704) in front of the vehicle (702) that is not identified by pre-stored learning data from surrounding object information (S600), and if it is confirmed that there is an unidentified object (704) in front, the free space area (708) can be set to decrease as the distance between the vehicle (702) and the unidentified object (704) decreases (S602).

[0058] The training data may contain pre-stored information data regarding objects that may generally be present in front of a vehicle while driving, such as moving or stopped vehicles, pedestrians, stones, signs, traffic lights, etc.

[0059] However, the training data may not contain information data about objects that are not typically present in front of the vehicle while it is driving. For example, as shown in FIG. 5, the training data may not contain information data about the underside of another overturned vehicle. As another example, the training data may not contain information data about broken pieces of wood or objects that have fallen from another vehicle (stones, boxes, spring plates, etc.).

[0060] In the following, an example is given where the underside of another vehicle that has overturned is located in front of the vehicle (702) as an object (704, hereinafter referred to as an unidentified object) that is not identified by the previously stored training data. However, as previously mentioned, the embodiments described below may also be applied in cases where a broken piece of wood, a stone that has fallen from another vehicle, etc., which is not stored in the training data, is located in front of the vehicle (702).

[0061] The setting step can be varied so that if an unidentified object (704) is present in front of the vehicle, the free space area (708) decreases as the distance between the unidentified object (704) and the vehicle (702) decreases.

[0062] In this case, the judgment step may select the unidentified object (704) in front of the free space area (708) that is set to be reduced due to the unidentified object (704) as the target object (S604).

[0063] In conventional driving assistance methods for emergency braking, warning or automatic emergency braking is not performed when an unidentified object (704) is present in front of the vehicle (702), so an accident may occur in which the unidentified object (704) and the vehicle (702) collide.

[0064] However, the driving assistance method according to the present embodiment can prevent an accident in which the unidentified object (704) and the vehicle (702) collide by selecting the unidentified object (704) in front as a target object based on a free space area (708) that is set to change so that the distance is reduced even when the unidentified object (704) is in front of the vehicle (702), and determining whether to issue a warning or emergency braking.

[0065] The driving assistance method according to the above embodiment selects an unidentified object (704) as a target object and determines whether to issue a warning or emergency braking based on the expected collision time with the target object, but is not limited thereto, and may also enable the vehicle (702) to perform driving that avoids the unidentified object (704).

[0066] Hereinafter, with reference to FIGS. 8 and 9, a method for determining whether to perform evasive driving in the driving assistance method according to the present embodiment will be explained.

[0067] FIG. 8 is a flowchart illustrating an avoidance driving operation when there is another drivable lane in the driving assistance method according to the embodiments. FIG. 9 is a diagram exemplarily illustrating a situation in which there is another drivable lane in the driving assistance method according to the embodiments.

[0068] Referring to FIGS. 8 and 9, if an unidentified object (704) exists in front of the vehicle (702), the setting step checks from lane information whether there is another drivable lane (S800), and if it is confirmed that there is another drivable lane, the free space area (708, 709) can be expanded and set to include the other drivable lane (S802).

[0069] As illustrated in FIG. 9, the other drivable lane may refer to an adjacent lane separated from the lane in which the vehicle (702) is currently driving, but is not limited thereto. The other drivable lane includes a space in which the vehicle (702) can drive while avoiding an unidentified object (704) present ahead; it should be interpreted that even within the same lane, if there is a space in which the vehicle can drive while avoiding the unidentified object (704), that space is also included. Hereinafter, the other drivable lane is described as an adjacent lane separated from the lane in which the vehicle (702) is currently driving.

[0070] The expanding free space area (709) can be set based on the vehicle's front sensor, side sensor, and rear sensor. The expanding free space area (709) can be set to a preset range of area, and can be set to a range of area larger than the free space area (708) set in front of the vehicle (702).

[0071] In this case, the judgment step determines whether to drive to another lane based on the change in the extended free space area (709) if the expected collision time is longer than the braking time required (S804), and the control step can generate and output a driving to avoid the collision if it is determined that driving to avoid the collision is possible (S806).

[0072] The statement that the expected collision time is longer than the braking time may mean that the vehicle (702) can brake or drive to another lane without colliding with an unidentified object (704) in front.

[0073] The judgment step may determine that avoidance driving to another lane is possible if there is no change in the expanded free space area (709). In this case, the control step may generate and output an avoidance driving signal instead of an emergency braking signal, so that the vehicle (702) drives to avoid an unidentified object (704) in front.

[0074] FIG. 10 is a flowchart illustrating the operation in the case where another vehicle approaches the expanded free space area in the driving assistance method according to the embodiments. FIG. 11 is a diagram exemplifying a situation in which another vehicle approaches the expanded free space area of ​​the driving assistance method according to the embodiments.

[0075] Referring to FIGS. 10 and 11, the setting step checks whether there is another vehicle (706) approaching the extended free space area (709) (S1000), and if it is confirmed that there is another vehicle (702) approaching, the extended free space area (709) can be set to decrease as the distance between the vehicle (702) and the other vehicle (706) decreases (S1002).

[0076] Referring to FIG. 11, another vehicle (706) is depicted approaching from the rear of the extended free space area (709), but is not limited thereto. For example, the other vehicle (706) may approach from the front of the extended free space area (709) as the speed is decelerated or stopped in front of the extended free space area (709). Hereinafter, the description assumes that the other vehicle (706) approaches from the rear of the extended free space area (709).

[0077] When it is confirmed that another vehicle (706) is approaching the extended free space area (709) from the rear, the setting step can be varied so that the extended free space area is reduced by the setting as the distance between the vehicle (702) and the other vehicle (706) decreases.

[0078] In this case, the judgment step can calculate the possibility of collision with another vehicle (706) during evasive driving based on the reduced area in the expanded free space area (709) (S1004), and determine whether to perform emergency braking or evasive driving based on the calculated possibility of collision (S1006).

[0079] The probability of a collision can be calculated based on the distance and relative speed between the expected vehicle (702) and another vehicle (706) within the other lane when the vehicle (702) evades into another lane of the extended free space area (709).

[0080] In the judgment step, if it is determined that there is a possibility of a collision when the vehicle (702) evades into another lane of the expanded free space area (709), it may determine that emergency braking is required when the estimated collision time reaches the time required for braking by using an unidentified object (704) present in front as the target object. On the other hand, if it is determined that there is no possibility of a collision when the vehicle (702) evades into another lane of the expanded free space area (709), it may determine that evasive driving into another lane is possible.

[0081] The control step can emergency brake or drive the vehicle (702) by receiving a signal based on the judgment of the judgment step and generating and outputting an emergency braking signal or an evasive driving signal.

[0082] Below, a driving assistance device capable of performing the driving assistance method described with reference to FIGS. 1 to 11 is briefly described once again. The driving assistance device described below may perform all or part of the operation of the aforementioned driving assistance method. In addition, the driving assistance device may perform each of the aforementioned embodiments in any combination.

[0083] FIG. 12 is a block diagram showing a driving assistance device according to the embodiments.

[0084] Referring to FIG. 12, the driving assistance device according to the embodiments may include a setting unit (1202) that sets a free space area in front of the vehicle based on at least one of lane information and surrounding object information obtained using a sensor provided in the vehicle.

[0085] Sensors equipped in a vehicle should be interpreted to include any type of sensor capable of detecting lanes, pedestrians, vehicles, objects, etc., and may be equipped in combination of multiple sensors. Additionally, sensors equipped in a vehicle may additionally include sensors for monitoring the vehicle's driving status.

[0086] Lane information may include, but is not limited to, information on the driving lane in which the vehicle is currently traveling. For example, lane information may include information on other lanes in which the vehicle can travel, such as left lane information and right lane information.

[0087] Surrounding object information may include information about all objects existing around the vehicle. Surrounding object information may include, but is not limited to, information about objects identified by pre-stored training data. For example, surrounding object information may include information about objects not identified by pre-stored training data.

[0088] The free space area can be set based on signals transmitted from sensors equipped in the vehicle, and can be set as an area up to a preset distance from the vehicle.

[0089] The setting unit (1202) may set a free space area in front of the vehicle based on at least one of lane information and surrounding object information, and may change the previously set free space area based on the changed lane information or surrounding object information. The front of the vehicle where the free space area is set may refer to the front within the driving lane. However, the free space area may be set by extending to the front, side, and rear of one side of the vehicle to include not only the front of the vehicle within the driving lane but also other lanes.

[0090] Referring to FIG. 12, the driving assistance device according to the embodiments may include a judgment unit (1204) that selects a target object based on a change in the free space area, calculates the expected collision time for the target object, and determines whether to perform emergency braking by comparing the expected collision time with a preset braking time.

[0091] For example, the judgment unit (1204) can select a target object based on a change in which the free space area is changed to a curve. For example, if the setting unit (1202) confirms from lane information that the driving lane has changed to a curve section, it sets the free space area to correspond to the curve section, and the judgment unit (1204) determines whether the vehicle can drive along the free space area set to the change, and can select a target object based on the result of the judgment.

[0092] In this case, if the judgment unit (1204) determines that the vehicle can drive along the variable-set free space area, it may set the vehicle's driving path along the variable-set free space area and select a front object located outside the variable-set free space area on the driving path as a target object. On the other hand, if the judgment unit (1204) determines that the vehicle cannot drive along the variable-set free space area, it may set the vehicle's driving path based on the yaw rate sensor value provided inside the vehicle and select a front object located on the driving path as a target object.

[0093] As another example, the judgment unit (1204) can select a target object based on a change in which the free space area is reduced. For example, if the setting unit (1202) confirms from surrounding object information that there is an object in front of the vehicle that is not identified by pre-stored training data, it sets a variation so that the free space area is reduced as the distance between the vehicle and the object decreases, and the judgment unit (1204) can select the object in front of the free space area set by the variation as the target object.

[0094] The judgment unit (1204) can calculate the Time To Collision (TTC) for a selected target object. The Time To Collision (TTC) is the time it takes for a vehicle and a target object to collide with each other. If the target object is a stationary object, it can be calculated based on the speed of the vehicle and the distance between the vehicle and the target object, and if the target object is a moving object, it can be calculated based on the distance between the vehicle and the target object and the relative speed.

[0095] The judgment unit (1204) can determine whether to perform emergency braking by comparing the calculated collision prediction time with the preset braking time. The preset braking time may refer to the time during which a moving vehicle can be braked without colliding with another vehicle.

[0096] Referring to FIG. 12, the driving assistance device according to the embodiments may include a control unit (1206) that generates and outputs an emergency braking signal when it is determined that emergency braking is required.

[0097] The control unit (1206) can generate and output an emergency braking signal when it is determined that emergency braking is required, and can also generate and output a warning message to the driver of the vehicle. However, it is not limited to this, and the control unit (1206) can also generate and output an evasive driving signal.

[0098] For example, if there is an object in front of the vehicle that is not identified by pre-stored learning data, the setting unit (1202) expands the free space area to include the other lane if it is confirmed from the lane information that there is another lane that can be driven, and the judgment unit (1204) determines whether to drive to the other lane based on the change in the expanded free space area if the collision prediction time is longer than the braking time required, and the control unit (1206) may generate and output an evasion driving signal if it is determined that evasion driving is possible.

[0099] In this case, if the setting unit (1202) detects that there is another vehicle approaching the expanded free space area, the setting unit (1202) sets the expanded free space area to decrease as the distance between the vehicle and the other vehicle decreases, and the judgment unit (1204) calculates the possibility of collision with another vehicle during evasive driving based on the reduced area in the expanded free space area, and can determine whether to perform emergency braking or evasive driving based on the possibility of collision, and the control unit (1206) can output an emergency braking signal or an evasive driving signal.

[0100] The driving assistance device according to the embodiments selects a target object based on changes in the free space area set in front of the vehicle and determines whether to issue a warning and emergency braking, thereby preventing unnecessary automatic emergency braking and can recognize an unlearned object to issue a warning and perform emergency braking.

[0101] The foregoing description is merely an illustrative explanation of the technical concept of the present disclosure, and those skilled in the art to which the present disclosure pertains may make various modifications and variations within the scope of the essential characteristics of the technical concept. Furthermore, since these embodiments are intended to explain, not limit, the scope of the technical concept is not limited by these embodiments. The scope of protection of the present disclosure shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present disclosure. Explanation of the symbols

[0102] 402, 502, 702: Vehicle 408, 508, 708, 709: Free space area 404, 406, 506, 706: Other vehicles 410, 510: Driving route 704: Unidentified Object 1202: Settings section 1204: Judgment Department 1206: Control unit

Claims

Claim 1 A driving assistance method comprising: a setting step of setting a free space area in front of a vehicle based on at least one of lane information and surrounding object information obtained using a sensor equipped in the vehicle; a judgment step of selecting a target object based on a change in the free space area, calculating an estimated collision time for the target object, and determining whether to perform emergency braking by comparing the estimated collision time with a preset braking time; and a control step of generating and outputting an emergency braking signal when it is determined that emergency braking is required, wherein the setting step is configured such that if it is confirmed from the surrounding object information that there is an object in front of the vehicle that is not identified by preset learning data, the free space area is reduced as the distance between the vehicle and the object decreases, and the judgment step selects the object in front of the configured free space area as the target object. Claim 2 A driving assistance method according to claim 1, wherein the setting step changes the free space area to correspond to the curved section when it is confirmed from the lane information that the driving lane has changed to a curved section, and the judgment step determines whether the vehicle can drive along the changed free space area, and selects the target object based on the result of the judgment. Claim 3 A driving assistance method according to paragraph 2, wherein the judgment step is characterized by, if it is determined that the vehicle can drive along the variable-set free space area, setting a driving path for the vehicle along the variable-set free space area, and selecting a front object located outside the variable-set free space area on the driving path as a target object. Claim 4 A driving assistance method according to paragraph 2, wherein if the determination step determines that the vehicle cannot drive along the variable-set free space area, the driving path of the vehicle is set based on the yaw rate sensor value provided inside the vehicle, and a front object located on the driving path is selected as a target object. Claim 5 delete Claim 6 A driving assistance method according to claim 1, wherein the setting step expands and sets the free space area to include the other lane if it is confirmed from the lane information that there is another lane capable of driving, the judgment step determines whether to drive evasively in the other lane based on the change in the expanded free space area if the expected collision time is longer than the braking required time, and the control step generates and outputs an evasive driving signal if it is determined that evasive driving is possible. Claim 7 A driving assistance method according to claim 6, wherein the setting step is configured such that if it is confirmed that there is another vehicle approaching the expanded free space area, the expanded free space area is reduced as the distance between the vehicle and the other vehicle decreases, and the judgment step calculates the probability of collision with the other vehicle during evasive driving based on the reduced area in the expanded free space area, and determines whether to perform emergency braking or evasive driving based on the probability of collision. Claim 8 A driving assistance device comprising: a setting unit that sets a free space area in front of a vehicle based on at least one of lane information and surrounding object information obtained using a sensor equipped in the vehicle; a judgment unit that selects a target object based on a change in the free space area, calculates an estimated collision time for the target object, and determines whether to perform emergency braking by comparing the estimated collision time with a preset braking time; and a control unit that generates and outputs an emergency braking signal when it is determined that emergency braking is required, wherein the setting unit sets the free space area to decrease as the distance between the vehicle and the object decreases when it is confirmed from the surrounding object information that there is an object in front of the vehicle that is not identified by preset learning data, and the judgment unit selects the object in front of the set free space area as the target object. Claim 9 A driving assistance device according to claim 8, wherein the setting unit changes the free space area to correspond to the curved section when it is confirmed from the lane information that the driving lane has changed to a curved section, and the judgment unit determines whether the vehicle can drive along the changed free space area, and selects the target object based on the result of the judgment. Claim 10 A driving assistance device according to claim 9, wherein the judgment unit, when it determines that the vehicle can drive along the variable-set free space area, sets a driving path for the vehicle along the variable-set free space area and selects a front object located outside the variable-set free space area on the driving path as a target object. Claim 11 A driving assistance device according to claim 9, wherein the above-determined judgment unit, when it is determined that the vehicle cannot drive along the variable-set free space area, sets the driving path of the vehicle based on the yaw rate sensor value provided inside the vehicle and selects a front object located on the driving path as a target object. Claim 12 delete Claim 13 A driving assistance device according to claim 8, wherein the setting unit expands and sets the free space area to include the other lane if it is confirmed from the lane information that there is another lane capable of driving, the judgment unit determines whether to drive evasively in the other lane based on the change in the expanded free space area if the expected collision time is longer than the braking time required, and the control unit generates and outputs an evasive driving signal if it is determined that evasive driving is possible. Claim 14 A driving assistance device according to claim 13, wherein the setting unit changes the setting unit such that the expanded free space area is reduced as the distance between the vehicle and the other vehicle decreases when it is confirmed that there is another vehicle approaching the expanded free space area, and the judgment unit calculates the probability of collision with the other vehicle during evasive driving based on the reduced area in the expanded free space area, and determines whether to perform emergency braking or evasive driving based on the probability of collision.

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