Driver assistance system and method

Abstract

Driver assistance system and method. The driver assistance system includes: a first sensor mounted at a vehicle and configured to have a field of view pointing forward from the vehicle to acquire front image data; a second sensor selected from the group of a radar sensor and a lidar sensor, mounted at the vehicle and configured to have a field of view pointing forward from the vehicle to acquire front detection data; and a controller having a processor configured to process the front image data and the front detection data, wherein the controller is configured to detect a lane in which the vehicle is traveling or detect a front object located in front of the vehicle in response to processing the front image data and the front detection data, output a braking signal to a braking system of the vehicle when a collision between the vehicle and the front object is predicted, and output a steering signal to a steering system of the vehicle when a collision between the vehicle and the front object is predicted even with braking control.

Description

Technical Field

[0001] The present disclosure relates to driver assistance systems, and more particularly, to driver assistance systems capable of avoiding forward collisions. Background Art

[0002] A vehicle refers to a means of transport that travels on roads or tracks using fossil fuels, electricity, etc. as its power source. In modern society, vehicles are the most common means of transport, and the number of people using vehicles is even increasing.

[0003] In order to reduce the burden on the driver and increase his convenience, vehicles equipped with a driver assistance system (DAS) that actively provides information on the vehicle state, the driver state, and surrounding conditions are being actively studied recently.

[0004] As examples of DAS equipped in vehicles, there are forward collision avoidance (FCA), autonomous emergency braking (AEB), driver attention warning (DAW), etc. These systems are collision avoidance and warning systems that determine the risk of collision with an object while the vehicle is traveling on the road and apply emergency braking in case of collision.

[0005] However, the conventional AEB system of a vehicle can only avoid a collision with a car moving forward in the longitudinal direction of the vehicle, but has limitations in that it is difficult to avoid a collision in a situation where emergency braking is required while performing lateral control of the vehicle.

[0006] Therefore, there is a need for technology to reduce accidents by overcoming the limitations of the AEB system so as to widely apply it in terms of availability. Summary of the invention

[0007] The present disclosure provides a driver assistance system that enables lateral control to be performed simultaneously with braking control when an obstacle exists in front of a vehicle and the obstacle cannot be avoided using braking control alone, thereby reducing the risk of collision with the obstacle.

[0008] The present disclosure also provides a control method that enables a vehicle in a lane to be laterally controlled to avoid an obstacle, thereby preventing a secondary collision with a nearby vehicle in another lane.

[0009] According to one aspect of the present disclosure, a driver assistance system is provided. The driver assistance system includes: a first sensor, which is installed at a vehicle and configured to have a field of view pointing forward from the vehicle to obtain front image data; a second sensor, which is selected from a group of radar sensors and laser radar sensors, is installed at the vehicle and configured to have a field of view pointing forward from the vehicle to obtain front detection data; and a controller, which has a processor, which is configured to process the front image data and the front detection data, wherein the controller is configured to detect the lane in which the vehicle is traveling or detect a front object located in front of the vehicle in response to processing the front image data and the front detection data, output a braking signal to a braking system of the vehicle when a collision between the vehicle and the front object is expected, and output a steering signal to a steering system of the vehicle when a collision between the vehicle and the front object is expected even with braking control.

[0010] When a collision between the vehicle and the front object is predicted, the controller may output a steering signal to the steering system of the vehicle so that the vehicle avoids the collision with the front object and remains in a lane in which the vehicle is traveling.

[0011] The controller may calculate a yaw rate required for the vehicle to avoid collision with the forward object and remain in a lane in which the vehicle is traveling.

[0012] The controller may output a steering signal to the steering system of the vehicle and a braking signal to the braking system of the vehicle so that the vehicle avoids collision with the front object and remains in a predetermined area in a lane in which the vehicle is traveling.

[0013] The controller may determine the predetermined area to be narrower than an area having a length of a width of the lane and a distance between the vehicle and the front object.

[0014] The controller may calculate in real time the yaw rate required for the vehicle to maintain traveling in the predetermined area.

[0015] The controller may output a steering control signal to the steering system that is changed according to the yaw rate calculated in real time.

[0016] The controller may predict a collision between the vehicle and the front object based on a distance to the front object and a relative speed of the front object.

[0017] According to another aspect of the present disclosure, a driver assistance method is provided. The driver assistance method includes the following steps: using a camera installed at a vehicle and having a field of view pointing forward from the vehicle to obtain front image data of the vehicle; using a front radar installed at the vehicle and having a field of view pointing forward from the vehicle to obtain front radar data of the vehicle; in response to processing the front image data and the front radar data, detecting the lane in which the vehicle is traveling or detecting a front object located in front of the vehicle; applying brakes to the vehicle when a collision between the vehicle and the front object is expected; and changing the driving direction of the vehicle when a collision between the vehicle and the front object is expected even when the vehicle is braked.

[0018] The driver assistance method may further include the step of, when a collision between the vehicle and the front object is predicted, changing a driving direction of the vehicle to avoid the collision with the front object and to remain in the lane in which the vehicle is traveling.

[0019] The driver assistance method may further include calculating a yaw rate required for the vehicle to avoid a collision with the forward object and to remain in a lane in which the vehicle is traveling.

[0020] The driver assistance method may further include the steps of changing a driving direction of the vehicle and applying brakes to the vehicle so that the vehicle avoids a collision with the front object and remains in a predetermined area in the lane in which the vehicle is traveling.

[0021] The driver assistance method may further include the step of calculating in real time a yaw rate required for the vehicle to maintain traveling in the predetermined area.

[0022] The driver assist method may further include the step of outputting a steering control signal changed according to the yaw rate calculated in real time to the steering system.

[0023] The driver assistance method may further include predicting a collision between the vehicle and the front object based on a distance to the front object and a relative speed of the front object.

[0024] According to one aspect of the present disclosure, a driver assistance system is provided. The driver assistance system includes: a first sensor, which is installed at a vehicle and configured to have a field of view pointing forward from the vehicle to obtain front image data; a second sensor, which is selected from a group of radar sensors and laser radar sensors, is installed at the vehicle and configured to have a field of view pointing forward from the vehicle to obtain front detection data; a processor, which is configured to process the front image data and the front detection data; and a memory, which stores instructions. When the instructions are executed by the processor, the processor: in response to the processing of the front image data and the front detection data, detects the lane in which the vehicle is traveling or detects a front object located in front of the vehicle, when a collision between the vehicle and the front object is expected, outputs a braking signal to the braking system of the vehicle, and when a collision between the vehicle and the front object is expected even with braking control, outputs a steering signal to the steering system of the vehicle.

[0025] The instructions may also cause, when a collision between the vehicle and the forward object is predicted, a steering signal to be output to the steering system of the vehicle so as to cause the vehicle to avoid collision with the forward object and remain in a lane in which the vehicle is traveling.

[0026] The instructions may also cause a steering signal to be output to the steering system of the vehicle and a braking signal to be output to the braking system of the vehicle so as to cause the vehicle to avoid collision with the object ahead and remain in a predetermined area in the lane in which the vehicle is traveling, the predetermined area being narrower than an area having a width of the lane and a length of the distance between the vehicle and the object ahead.

[0027] The instructions may also cause real-time calculation of a yaw rate required for the vehicle to maintain traveling in the predetermined area.

[0028] The instruction may further cause a steering control signal to be output to the steering system, the steering control signal being changed according to the yaw rate calculated in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other objects, features and advantages of the present disclosure will become more apparent to those skilled in the art by describing in detail exemplary embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0030] Figure 1 is a block diagram of a vehicle according to an embodiment of the present disclosure;

[0031] Figure 2 is a block diagram of a driver assistance system according to an embodiment of the present disclosure;

[0032] Figure 3 shows a camera and a radar included in a driver assistance system according to an embodiment of the present disclosure;

[0033] Figure 4 is a schematic diagram for explaining how a vehicle equipped with a driver assistance system according to an embodiment of the present disclosure detects an obstacle ahead;

[0034] Figure 5 is a schematic diagram for explaining how a vehicle equipped with a driver assistance system according to an embodiment of the present disclosure avoids a vehicle ahead;

[0035] Figure 6 is a schematic diagram for explaining how a vehicle equipped with a driver assistance system according to an embodiment of the present disclosure avoids a pedestrian; and

[0036] Figure 7 is a flowchart illustrating an operating method of a driver assistance system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] Throughout the specification, similar reference numerals refer to similar elements. All elements of the embodiments of the present disclosure will not be described, and descriptions that are known in the art or repeated in embodiments will be omitted. Terms used in the entire specification such as "~components", "~modules", "~members", "~blocks", etc. can be implemented in software and / or hardware, and multiple "~components", "~modules", "~members" or "~blocks" can be implemented in a single element, or a single "~component", "~module", "~member" or "~block" can include multiple elements.

[0038] It should also be understood that the term "connect" or its derivatives refer to both direct and indirect connections, and that indirect connections include connections through wireless communication networks.

[0039] Unless stated otherwise, the terms "comprise (or include)" or "comprising (or including)" are inclusive or open-ended and do not exclude additional unrecited elements or method steps.

[0040] Throughout the specification, when a component is said to be "on" another component, this means not only that the component is adjacent to the other component but also that a third component exists between the two components.

[0041] It should be understood that although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section, respectively.

[0042] It is to be understood that the singular forms "a," "an," and "the" include plural references unless the context clearly dictates otherwise.

[0043] The reference numerals used for the method steps are used only for convenience of explanation and do not limit the order of the steps. Therefore, unless the context clearly indicates otherwise, the written order can be practiced in other ways.

[0044] Now, the principles and embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0045] Figure 1 is a block diagram of a vehicle according to an embodiment of the present disclosure.

[0046] Reference Figure 1 , the vehicle 1 may include an engine 10, a transmission 20, a brake device 30, and a steering device 40. The engine 10 may include a cylinder and a piston to generate power for the vehicle 1 to travel. The transmission 20 may include a plurality of gears to transmit the power generated by the engine 10 to the vehicle wheels. The brake device 30 may use friction with the vehicle wheels to slow down or stop the vehicle 1. The steering device 40 may change the travel direction of the vehicle 1.

[0047] The vehicle 1 may include a plurality of electronic components. For example, the electronic components of the vehicle 1 may include an engine management system (EMS) 11, a transmission control unit (TCU) 21, an electronic brake control module (EBCM) 31, an electronic power steering (EPS) 41, a body control module (BCM) 51, and a driver assistance system (DAS) 100.

[0048] The EMS 11 may control the engine 10 in response to an acceleration intention performed by a driver on an accelerator pedal or a request of the DAS 100. For example, the EMS 11 may control the torque of the engine 10.

[0049] The TCU 21 may control the transmission 20 in response to a shift command issued by a driver using a shift lever and / or a driving speed of the vehicle 1. For example, the TCU 21 may control a transmission gear ratio between the engine 10 and the wheels of the vehicle.

[0050] The EBCM 31 may control the brake device 30 in response to a braking intention performed by the driver on the brake pedal and / or slip of the vehicle wheels. For example, the EBCM 31 may temporarily release the brakes on the vehicle wheels in response to slip of the vehicle wheels detected when the vehicle 1 applies the brakes (anti-lock braking system (ABS)). The EBCM 31 may selectively release the brakes on the vehicle wheels in response to oversteering and / or understeering detected when the vehicle 1 is turning (electronic stability control (ESC)). In addition, the EBCM 31 may temporarily apply brakes to the vehicle wheels in response to slip of the vehicle wheels detected when the vehicle 1 is moving (traction control system (TCS)).

[0051] The EPS 41 can assist the operation of the steering device 40 in response to the steering intention performed by the driver on the steering wheel to allow the driver to easily manipulate the steering wheel. For example, the EPS 41 can assist the operation of the steering device 40 to reduce the steering power during low-speed driving or parking and increase the steering power during high-speed driving.

[0052] The EPS 41 according to the embodiment is driven by an electric motor, so it is also called a motor-driven power steering system (MDPS).

[0053] The BCM 51 may provide convenience to the driver or control the operation of electronic components responsible for ensuring the driver's safety. For example, the BCM 51 may control headlights, wipers, an instrument panel, a multi-function switch, and a turn indicator.

[0054] The DAS 100 can assist the driver in manipulating (driving, braking, steering) the vehicle 1. For example, the DAS 100 can detect the surroundings of the vehicle 1 (e.g., other vehicles, pedestrians, cyclists, lanes, road signs), and control the driving, braking, and / or steering of the vehicle 1 in response to the detected surroundings.

[0055] DAS100 can provide various functions for the driver. For example, DAS100 can provide lane departure warning (LDW), lane keeping assist (LKA), high beam assist (HBA), autonomous emergency braking (AEB), traffic sign recognition (TSR), smart cruise control (SCC), blind spot detection (BSD), etc.

[0056] The DAS 100 may include a camera module 101 for acquiring image data around the vehicle 1 and a radar module 102 for acquiring object data around the vehicle 1 .

[0057] The camera module 101 may include a camera 101 a and an electronic control unit (ECU) 101 b for capturing a field of view in front of the vehicle 1 and recognizing other vehicles, pedestrians, cyclists, lanes, road signs, etc.

[0058] The radar module 102 may include a radar 102 a and an ECU 102 b for acquiring relative positions and relative speeds of objects (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle 1 .

[0059] The electronic components can communicate with each other through the vehicle communication network (NT). For example, the electronic components can exchange data through Ethernet, media oriented system transport (MOST), Flexray, controller area network (CAN), local interconnect network (LIN), etc. For example, the DAS 100 can send a driving control signal, a brake signal, and a steering signal to the EMS 11, the EBCM (31), and the EPS 41, respectively, through the NT.

[0060] Figure 2 is a block diagram of a DAS according to an embodiment of the present disclosure. Figure 3 A camera and a radar included in a DAS according to an embodiment of the present disclosure are shown. Figure 4 2 is a schematic diagram for explaining how a vehicle equipped with a DAS according to an embodiment of the present disclosure detects an obstacle ahead.

[0061] Reference Figure 2 , the vehicle 1 may include a braking system 32 , a steering system 42 , and a DAS 100 .

[0062] The brake system 32 may include Figure 1 The braking device 30 and the EBCM 31 shown in FIG. 4 and the steering system 42 may include a Figure 1 The steering device 40 and the EPS 41 are shown in FIG.

[0063] Upon receiving a turn signal from the DAS 100 , the steering system 42 may activate the steering device 40 and the EPS 41 in response to the turn signal.

[0064] Specifically, the EPS 41 may generate torque for the EPS 41 driven by the electric motor in order to ensure a desired yaw rate.

[0065] The DAS 100 may include a front camera 110 , a front radar 120 , and a plurality of corner radars 130 .

[0066] The front camera 110 may have a field of view 110a pointing forward from the vehicle 1, such as Figure 3 For example, the front camera 110 may be installed in the front windshield of the vehicle 1 .

[0067] The front camera 110 may capture a field of view in front of the vehicle 1 and acquire front image data of the vehicle 1. The front image data of the vehicle 1 may include position information of other vehicles, pedestrians, cyclists, or lanes in front of the vehicle 1.

[0068] The front camera 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes for converting light into electrical signals, and the plurality of photodiodes may be arranged in a two-dimensional (2D) matrix.

[0069] The front camera 110 may be electrically coupled to the controller 140. For example, the front camera 110 may be coupled to the controller 140 through NT or through a hard wire or via a printed circuit board (PCB).

[0070] The front camera 110 may transmit front image data of the vehicle 1 to the controller 140 .

[0071] The front radar 120 may have a sensing field 120a pointing forward from the vehicle 1, such as Figure 3 The front radar 120 may be installed in the grille or bumper of the vehicle 1 .

[0072] The front radar 120 may include a transmitting antenna (or a transmitting antenna array) for radiating a transmission wave forward from the vehicle 1 and a receiving antenna (or a receiving antenna array) for receiving a reflected wave reflected from an object. The front radar 120 may obtain front radar data from the transmission wave sent by the transmitting antenna and the reflected wave received by the receiving antenna. The front radar data may include information about the distance and speed to other vehicles, pedestrians or cyclists in front of the vehicle 1. The front radar 120 may calculate the relative distance to the object based on the phase (or time) difference between the transmission wave and the reflected wave, and calculate the relative speed of the object based on the frequency difference between the transmission wave and the reflected wave.

[0073] The front radar 120 may be coupled to the controller 140 by NT or by hard wire or via PCB. The front radar 120 may send the front radar data to the controller 140.

[0074] Multiple corner radars 130 may include a first corner radar 131 installed at the right front corner of the vehicle 1, a second corner radar 132 installed at the left front corner of the vehicle 1, a third corner radar 133 installed at the right rear corner of the vehicle 1, and a fourth corner radar 134 installed at the left rear corner of the vehicle 1.

[0075] The first corner radar 131 may have a sensing field 131a directed from the vehicle 1 toward the right front direction, such as Figure 3. The front radar 120 may be mounted on the right side of the front bumper of the vehicle 1. The second corner radar 132 may have a sensing field 132a pointing from the vehicle 1 toward the left front direction, and may be mounted, for example, on the left side of the front bumper of the vehicle 1. The third corner radar 133 may have a sensing field 133a pointing from the vehicle 1 toward the right rear direction, and may be mounted, for example, on the right side of the rear bumper of the vehicle 1. The fourth corner radar 134 may have a sensing field 134a pointing from the vehicle 1 toward the left rear direction, and may be mounted, for example, on the left side of the rear bumper of the vehicle 1.

[0076] Each of the first corner radar 131, the second corner radar 132, the third corner radar 133 and the fourth corner radar 134 may include a transmitting antenna and a receiving antenna. The first corner radar 131, the second corner radar 132, the third corner radar 133 and the fourth corner radar 134 may respectively obtain the first corner radar data, the second corner radar data, the third corner radar data and the fourth corner radar data. The first corner radar data may include information about the distance to other vehicles, pedestrians or cyclists (hereinafter collectively referred to as "objects") located in the right front of the vehicle 1 and the speed of the object. The second corner radar data may include information about the distance to the object located in the left front of the vehicle 2 and the speed of the object. The third corner radar data and the fourth corner radar data may respectively include information about the distance to the object located in the right rear and left rear of the vehicle 4 and the speed of the object.

[0077] Each of the first corner radar 131, the second corner radar 132, the third corner radar 133, and the fourth corner radar 134 may be coupled to the controller 140 by NT or by hard wire or via PCB. The first corner radar 131, the second corner radar 132, the third corner radar 133, and the fourth corner radar 134 may transmit the first corner radar data, the second corner radar data, the third corner radar data, and the fourth corner radar data to the controller 140, respectively.

[0078] The controller 140 may include Figure 1 The ECU 101 b of the camera module 101 and / or the ECU 102 b of the radar module 102 shown in FIG. 1 , and / or a separate built-in controller.

[0079] The controller 140 may include a processor 141 and a memory 142 .

[0080] The processor 141 may process the front image data of the front camera 110, the front radar data of the front radar 120, and the corner radar data of the plurality of corner radars 130, and generate a brake signal and a steering signal for controlling the brake system 32 and the steering system 42, respectively. For example, the processor 141 may include: an image signal processor for processing the front image data of the front camera 110; a digital signal processor for processing the radar data of the radars 120 and 130; and / or a micro control unit (MCU) for generating a brake signal and a steering signal.

[0081] The processor 141 may detect objects (eg, other vehicles, pedestrians, cyclists, 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 .

[0082] Specifically, the processor 141 may obtain information about the position (distance and direction) and speed (relative speed) of the object based on the front radar data of the front radar 120. The processor 141 may obtain information about the position (direction) of the object in front of the vehicle 1 and the type of the object (e.g., whether the object is another vehicle, a pedestrian, or a cyclist) based on the front image data of the front camera 110. Figure 4 As shown, information about the detected obstacle 200 can be obtained by obtaining information about the position (distance and direction) of the object in front of the vehicle 1 and the speed (relative speed) of the object based on the front radar data of the front radar 120, and obtaining information about the position (direction) of the object in front of the vehicle 1 and the type of the object (for example, whether the object is another vehicle, a pedestrian, or a cyclist) based on the front image data of the front camera 110.

[0083] In addition, the processor 141 may match the object detected based on the front image data with the object detected based on the front radar data, and obtain information about the type, position, and speed of the object in front of the vehicle 1 based on the matching result.

[0084] The processor 141 may generate a braking signal and a turning signal based on information about the type, position, and speed of the front object.

[0085] For example, the processor 141 can calculate the collision time (TTC) between the vehicle 1 and the front object based on information about the position (distance) and speed (relative speed) of the object, and can warn the driver of a collision or send a braking signal to the braking system 32 based on the comparison result between the TTC and the predetermined threshold time. In response to a TTC shorter than a first threshold time, the processor 141 can output a warning using an audio system and / or a display. In response to a TTC shorter than a second threshold time, the processor 141 can send a pre-braking signal to the braking system 32. In response to a TTC shorter than a third threshold time, the processor 141 can send an emergency braking signal to the braking system 32. The second threshold time is shorter than the first threshold time, and the third threshold time is shorter than the second threshold time.

[0086] In another example, the processor 141 may calculate a distance to collision (DTC) based on information about the speed (relative speed) of the object ahead, and may warn the driver of a collision or send a braking signal to the braking system 32 based on a comparison result between the DTC and the distance to the object.

[0087] In addition, the processor 141 may identify the lane in which the vehicle 1 is traveling based on the front image data of the front camera 110 and the front radar data of the front radar 120 .

[0088] Specifically, Figure 4 As shown in , the processor 141 may identify a right line 131 a and a left line 132 a for the vehicle 1 , and identify a width w between the right line 131 a and the left line 132 a .

[0089] The memory 142 may store programs and / or data for the processor 141 to process image data, process radar data, and generate brake signals and / or turn signals.

[0090] The memory 142 may temporarily store image data received from the front camera 110 and / or radar data received from the radars 120 and 130 , and temporarily store a result of the processor 141 processing the image data and / or the radar data.

[0091] The memory 142 may include volatile memory such as static random access memory (S-RAM), dynamic RAM (D-RAM), etc. and nonvolatile memory such as read only memory (ROM), erasable programmable ROM (EPROM), etc.

[0092] The configuration of the DAS 100 is described above.

[0093] Now, the implementation of the operation of DAS 100 will be described in detail. Specifically, Figure 5 is exemplified in Figure 4A schematic diagram of the timing at which the obstacle detected in the vehicle 500 is an obstacle, and Figure 6 6 is a schematic diagram illustrating a timing at which the detected obstacle is a pedestrian 600 .

[0094] First, if Figure 5 As shown in , the processor 141 can calculate the TTC between the vehicle 1 and the front object (i.e., the obstacle vehicle 500) based on information related to the position (distance) and speed (relative speed) of the object, warn the driver of a collision or send a braking signal to the braking system 32 based on the comparison result between the TTC and a predetermined threshold time, and determine whether the collision can be avoided by braking control alone.

[0095] Specifically, the processor 141 can calculate the TTC of the obstacle vehicle 500 detected when the vehicle 1 is located at 5 (t0), and if it is determined that the collision cannot be avoided only by braking control of the braking system 32, send a steering signal to the steering system 42 and additionally perform steering control to avoid the collision.

[0096] Therefore, if the processor 141 determines that the collision with the obstacle vehicle 500 cannot be avoided only by the braking control of the braking system 32, the processor 141 can send a steering signal to the steering system 42 and control the steering system 42 to perform lateral control on the vehicle 1 to avoid the obstacle vehicle 500 at point 5 (t1).

[0097] The lateral control of the steering system 42 is to control the steering angle so as to prevent the vehicle 1 from deviating from the range not exceeding the area 510 predetermined in order not to cross the detected lines 131a and 132a. Specifically, the area 510 predetermined by the processor 141 may correspond to an area having a width w1 within which the vehicle 1 can avoid the obstacle vehicle 500 between the detected lines 131a and 132a, and a length which is a longitudinal distance from the starting point in the lateral direction until the vehicle 1 avoids a collision with the obstacle vehicle 500. The steering system 42 may generate a torque for ensuring a desired yaw rate for the EPS 41 driven by the motor based on a steering control signal sent by the processor 141 to the steering system 42.

[0098] Subsequently, the processor 141 may continue to send a braking signal to the braking system 32 so that the vehicle 1 does not deviate from the predetermined area 510, and at the same time, continue to perform steering control by sending a steering signal to the steering system 42 to avoid the obstacle vehicle 500 in front of the vehicle 1 without collision. Specifically, the steering system 42 may calculate a torque for ensuring a desired yaw rate for the EPS 41 driven by the electric motor based on the steering control signal sent by the processor 141 to the steering system 42.

[0099] Figure 6 It is shown how to avoid a collision with a front obstacle which is a pedestrian according to an embodiment.

[0100] First, if Figure 6 As shown in , the processor 141 can calculate the TTC between the vehicle 1 and the front object (i.e., the pedestrian 600) based on information related to the position (distance) and speed (relative speed) of the object, warn the driver of a collision or send a braking signal to the braking system 32 based on the comparison result between the TTC and a predetermined threshold time, and determine whether the collision can be avoided by braking control alone.

[0101] Specifically, the processor 141 can calculate the TTC of the pedestrian 600 detected when the vehicle 1 is located at 6 (t0), and if it is determined that the collision cannot be avoided only by braking control of the braking system 32, send a steering signal to the steering system 42 and additionally perform steering control to avoid the collision.

[0102] Therefore, if the processor 141 determines that the collision with the pedestrian 600 cannot be avoided only by the braking control of the braking system 32, the processor 141 can send a steering signal to the steering system 42 and control the steering system 42 to perform lateral control on the vehicle 1 to avoid the pedestrian 600 at point 6 (t1). Specifically, the steering system 42 can calculate the torque for the EPS 41 driven by the motor to ensure the required yaw rate based on the steering control signal sent by the processor 141 to the steering system 42.

[0103] The lateral control of the steering system 42 is to control the steering angle so as to prevent the vehicle 1 from deviating from the range not exceeding the area 610 predetermined in order not to cross the detected lines 131a and 132a. Specifically, the area 610 predetermined by the processor 141 may correspond to an area having a width w2 within which the vehicle 1 can avoid the pedestrian 600 between the detected lines 131a and 132a, and a length which is a longitudinal distance from the starting point in the lateral direction until the vehicle 1 avoids a collision with the pedestrian 600.

[0104] Subsequently, the processor 141 may continue to send a braking signal to the braking system 32 so that the vehicle 1 does not deviate from the predetermined area 610, and at the same time, continue to perform steering control by sending a steering signal to the steering system 42 to avoid a pedestrian 600 in front of the vehicle 1 without causing a collision. Specifically, the steering system 42 may continue to calculate a torque for ensuring a desired yaw rate for the EPS 41 driven by the electric motor based on the steering control signal sent by the processor 141 to the steering system 42.

[0105] Figure 7 is a flowchart illustrating an operating method of a driver assistance system according to an embodiment of the present disclosure.

[0106] Reference Figure 7 In 700 , the DAS 100 detects a lane in which the vehicle 1 is traveling. In 710 , the DAS 100 detects an obstacle in front of the vehicle 1 .

[0107] The controller 140 may receive image data and / or radar data received from the front camera 110 and / or the front radar 120 .

[0108] The controller 140 can detect the lane in which the vehicle 1 is traveling based on the image data and / or the radar data, and can detect other vehicles, pedestrians, or cyclists in front of the vehicle 1 based on the image data and / or the radar data. For example, the controller 140 can obtain information about the type, position (distance and direction), and relative speed of other vehicles, pedestrians, or cyclists in front of the vehicle 1 based on the image data and / or the radar data.

[0109] The DAS 100 can predict whether the vehicle 1 will collide with a front obstacle based on the position (distance and direction) and relative speed of the obstacle.

[0110] For example, the controller 140 may calculate the TTC with the object based on the position and relative speed of the object in front, and predict whether the vehicle 1 will collide with the object based on a comparison between the TTC and a predetermined threshold. The controller 140 may receive radar data from the plurality of corner radars 130, and detect an object located at the side (right front, left front, right rear, or left rear) of the vehicle 1 based on the radar data. For example, the controller 140 may obtain the position (distance and direction) and relative speed of the object relative to the side based on the radar data.

[0111] If the collision can be avoided by braking control in 720 , then in 770 the DAS 100 sends a braking signal to the braking system 32 of the vehicle 1 to avoid a collision between the vehicle and the object using AEB.

[0112] Otherwise, if the DAS 100 determines that it is difficult to avoid the collision by braking control alone at 720 , the controller 140 calculates the yaw rate required to avoid the collision at 730 .

[0113] The DAS 100 performs primary steering control with the steering system 42 by sending a steering signal to the steering system 42 to produce the calculated yaw rate.

[0114] The main steering control refers to steering control for ensuring a yaw rate required for the vehicle 1 to avoid a collision with an obstacle.

[0115] Thereafter, in 750, it is determined whether the result of the primary steering control places the vehicle 1 in a critical area. The critical area refers to an area having a width within which the vehicle 1 can avoid colliding with an obstacle in the lane detected from the starting point in the lateral direction, and a length which is a longitudinal distance from the starting point in the lateral direction until the vehicle 1 avoids the collision.

[0116] If the result of the main steering control cannot place the vehicle 1 in the critical area, the electric motor of the steering device is continuously controlled to ensure the yaw rate through the steering system 42 .

[0117] Otherwise, if the result of the primary steering control places the vehicle 1 in the critical area at 750, auxiliary steering control is performed to produce the calculated yaw rate at 740. The auxiliary steering control refers to steering control that ensures the yaw rate required for the vehicle 1 to avoid collision with obstacles while maintaining the lane.

[0118] According to an embodiment of the present disclosure, the driver assistance system may enable lateral control of the vehicle to be performed simultaneously with braking control when there is an obstacle ahead and the obstacle cannot be avoided using braking control alone, thereby reducing the risk of collision with the obstacle.

[0119] Furthermore, secondary collisions with nearby vehicles in other lanes that may occur when trying to avoid obstacles can be prevented through lateral control of the vehicle in the lane.

[0120] A number of embodiments have been described above, but those skilled in the art will appreciate that various modifications can be made without departing from the scope of the present disclosure. Therefore, those skilled in the art should be aware that the true scope of technical protection is limited only by the appended claims.

[0121] CROSS-REFERENCE TO RELATED APPLICATIONS

[0122] This application is based on and claims the benefit of priority from Korean Patent Application No. 10-2019-0014039 filed on February 1, 2019, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein in its entirety by reference.

Claims

1. A driver assistance system, the driver assistance system comprising: a first sensor mounted at the vehicle and configured to have a field of view directed forward from the vehicle to acquire forward image data; a second sensor selected from the group consisting of a radar sensor and a lidar sensor, mounted at the vehicle and configured to have a field of view directed forward from the vehicle to acquire forward detection data; as well as a controller having a processor configured to process the front image data and the front detection data, Wherein, the controller is configured as: In response to processing the front image data and the front detection data, detecting a lane in which the vehicle is traveling or detecting a front object located in front of the vehicle, determining a predetermined area corresponding to an area having a width within which the vehicle avoids the front object in the lane and a length which is a longitudinal distance from a starting point in a lateral direction until the vehicle avoids a collision with the front object, At time t0, when a collision between the vehicle and the front object is predicted, a brake signal is output to a brake system of the vehicle to control the brake system to perform brake control, At time t1 after time t0, when it is predicted that a collision between the vehicle and the front object will occur even with braking control, a steering signal is output to a steering system of the vehicle to control the steering system to perform a primary steering control until the vehicle is in the predetermined area, and the braking signal is continuously output to the braking system to continue controlling the braking system to perform braking control, and After the vehicle is in the predetermined area, outputting another steering signal to the steering system of the vehicle to control the steering system to perform auxiliary steering control to avoid collision with the front object while keeping the vehicle in the lane, and The controller is further configured to calculate in real time the yaw rate required for the vehicle to maintain traveling in the predetermined area.

2. The driver assistance system according to claim 1, wherein: The controller is configured to output the steering signal to the steering system of the vehicle when a collision between the vehicle and the front object is predicted so that the vehicle avoids the collision with the front object and remains in a lane in which the vehicle is traveling.

3. The driver assistance system according to claim 1, wherein: The controller is configured to calculate a yaw rate required for the vehicle to avoid collision with the forward object and remain in a lane in which the vehicle is traveling.

4. The driver assistance system according to claim 3, wherein: The controller is configured to output the steering signal to the steering system of the vehicle and output the braking signal to the braking system of the vehicle so as to cause the vehicle to avoid collision with the front object and remain in the predetermined area in a lane in which the vehicle is traveling.

5. The driver assistance system according to claim 1, wherein: The controller is configured to output the steering signal, which is changed according to the yaw rate calculated in real time, to the steering system.

6. The driver assistance system according to claim 5, wherein: The controller is configured to anticipate a collision between the vehicle and the forward object based on a distance to the forward object and a relative speed of the forward object.

7. A driver assistance method, the driver assistance method comprising the following steps: acquiring forward image data of the vehicle using a camera mounted at the vehicle and having a field of view directed forward from the vehicle; acquiring forward radar data for the vehicle using a forward radar mounted at the vehicle and having a field of view directed forward from the vehicle; Detecting a lane in which the vehicle is traveling or detecting a front object located in front of the vehicle in response to processing the front image data and the front radar data; determining a predetermined area corresponding to an area having a width within which the vehicle avoids the front object in the lane and a length which is a longitudinal distance from a starting point in a lateral direction until the vehicle avoids a collision with the front object; At time t0, when a collision between the vehicle and the front object is predicted, applying brakes to the vehicle; At time t1 after time t0, when a collision between the vehicle and the front object is predicted to occur even when the vehicle is braked, performing main steering control on the vehicle until the vehicle is in the predetermined area and continuing to apply brakes to the vehicle; as well as performing auxiliary steering control on the vehicle after the vehicle is in the predetermined area to avoid a collision with the front object while keeping the vehicle in the lane, The yaw rate required for the vehicle to maintain traveling in the predetermined area is calculated in real time.

8. The driver assistance method according to claim 7, further comprising the following steps: When a collision between the vehicle and the front object is predicted, the driving direction of the vehicle is changed to avoid the collision with the front object and to remain in the lane in which the vehicle is traveling.

9. The driver assistance method according to claim 7, further comprising the following steps: A yaw rate required for the vehicle to avoid collision with the forward object and remain in a lane in which the vehicle is traveling is calculated.

10. The driver assistance method according to claim 9, further comprising the following steps: The driving direction of the vehicle is changed and the brakes are applied to the vehicle so that the vehicle avoids collision with the front object and remains in the predetermined area in the lane in which the vehicle is traveling.

11. The driver assistance method according to claim 7, further comprising the following steps: A steering signal that changes according to the yaw rate calculated in real time is output to the steering system.

12. The driver assistance method according to claim 11, further comprising the following steps: A collision between the vehicle and the front object is predicted based on a distance to the front object and a relative speed of the front object.

13. A driver assistance system, the driver assistance system comprising: a first sensor mounted at the vehicle and configured to have a field of view directed forward from the vehicle to acquire forward image data; a second sensor selected from the group consisting of a radar sensor and a lidar sensor, mounted at the vehicle and configured to have a field of view directed forward from the vehicle to acquire forward detection data; a processor configured to process the front image data and the front detection data; as well as a memory having stored therein instructions which, when executed by the processor, cause the processor to: In response to processing the front image data and the front detection data, detecting a lane in which the vehicle is traveling or detecting a front object located in front of the vehicle, determining a predetermined area corresponding to an area having a width within which the vehicle avoids the front object in the lane and a length which is a longitudinal distance from a starting point in a lateral direction until the vehicle avoids a collision with the front object, At time t0, when a collision between the vehicle and the front object is predicted, a brake signal is output to a brake system of the vehicle to control the brake system to perform brake control, At time t1 after time t0, when it is predicted that a collision between the vehicle and the front object will occur even with braking control, a steering signal is output to a steering system of the vehicle to control the steering system to perform a primary steering control until the vehicle is in the predetermined area, and the braking signal is continuously output to the braking system to continue controlling the braking system to perform braking control, and after the vehicle is in the predetermined area, outputting another steering signal to the steering system of the vehicle to control the steering system to perform auxiliary steering control to avoid collision with the front object while keeping the vehicle in the lane, The instruction further causes the yaw rate required for the vehicle to maintain traveling in the predetermined area to be calculated in real time.

14. The driver assistance system according to claim 13, wherein: The instructions further cause, when a collision between the vehicle and the forward object is predicted, the steering signal to be output to the steering system of the vehicle so as to cause the vehicle to avoid collision with the forward object and remain in a lane in which the vehicle is traveling.

15. The driver assistance system according to claim 14, wherein: The instructions also cause the steering signal to be output to the steering system of the vehicle and the braking signal to be output to the braking system of the vehicle so as to cause the vehicle to avoid collision with the forward object and remain in the predetermined area in the lane in which the vehicle is traveling.

16. The driver assistance system according to claim 13, wherein: The instruction further causes the steering system to output the steering signal that changes according to the yaw rate calculated in real time.

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