Vehicle and Its Control Method

Abstract

The present disclosure provides a vehicle and a control method thereof. The vehicle includes: a driver assistance system; an accelerator for performing acceleration of the vehicle; a braking device for performing deceleration of the vehicle; a speed sensor for detecting the current speed of the vehicle; a driver state sensor for obtaining the behavior data of the driver; and a controller. The controller is configured to identify a negligent state of the driver based on the behavior data of the driver, and activate a speed control mode when a negligent state of the driver is detected in an activated state of the driver assistance system.

Description

Technical Field

[0001] The present disclosure relates to a vehicle and a control method thereof that prevent collisions and minimize losses when a negligent state of a driver is detected. Background Art

[0002] A vehicle may include a driver assistance system (DAS). The driver assistance system is a system that assists a driver in driving and provides various functions. In particular, the driver assistance system may provide lane keeping assist and smart cruise control. In addition, the driver assistance system may further include a highway driving assistance function.

[0003] The highway driving assistance (HDA) function recognizes the distance to a vehicle ahead and lanes on a highway, and enables the vehicle to maintain and supplement its current driving state. When it is determined in combination with navigation that the vehicle has entered a highway, the HDA maintains the lane, keeps the distance to the vehicle ahead, and controls the speed to help the driver drive comfortably. In other words, the HDA combines smart cruise control and lane keeping assist.

[0004] On the other hand, if a driver is in a negligent state, for example, the driver does not touch the steering wheel, safety may be reduced. Commercial vehicles provide warnings and disable some functions provided by the driver assistance system when a hands-off situation of the driver is detected. The HDA stops operating in the hands-off situation.

[0005] However, even in a state where some functions of the driver assistance system are deactivated, the driving operation of the driver is not performed. In this case, vehicle collisions and accidents may occur. The prior art has not proposed a control method for a vehicle when the driving operation of the driver is not continuously performed. Therefore, vehicle collisions and accidents are likely to occur. Summary of the Invention

[0006] Accordingly, one aspect of the present disclosure provides a vehicle and a control method thereof that provide a warning by detecting a negligent state of a driver, and control the speed of the vehicle to prevent collisions and minimize losses in the case where a negligent state of the driver is detected.

[0007] More specifically, one aspect of the present disclosure provides a vehicle and a control method thereof that change a limit speed according to deceleration of a driver assistance system when a negligent state of the driver is detected, and control the speed of the vehicle not to exceed the changed limit speed.

[0008] According to one aspect of the present disclosure, a vehicle includes: a driver assistance system; an accelerator configured to perform acceleration of the vehicle; a braking device or braking system configured to perform deceleration of the vehicle; a speed sensor configured to detect the current speed of the vehicle; a driver state sensor that obtains the behavior data of the driver; and a controller. The controller is configured to identify the negligent state of the driver based on the behavior data of the driver, and when the negligent state of the driver is detected in the activated state of the driver assistance system, activate a speed control mode to control at least one of the accelerator and the braking device.

[0009] The controller may be configured to determine a limit speed of the vehicle according to the activation of the speed control mode, and the controller may be configured to control at least one of the accelerator and the braking device based on the limit speed.

[0010] The controller may be configured to deactivate the speed control mode when the driving intention of the driver is detected after the negligent state of the driver is detected.

[0011] The controller may be configured to compare the set speed of the driver, a predetermined reference speed, and the current speed, and determine the limit speed based on the comparison result.

[0012] The controller may be configured to, when the current speed becomes less than the limit speed due to deceleration while driving at the limit speed, determine whether the driver assistance system performs deceleration, and when the driver assistance system performs deceleration, change the limit speed to the decelerated current speed.

[0013] The controller may be configured to determine the minimum value among the set speed, the reference speed, and the current speed as the limit speed.

[0014] The vehicle may further include a warning device configured to provide at least one of a visual warning, an auditory warning, and a tactile warning. The controller may be configured to control the warning device to output at least one of a visual warning, an auditory warning, and a tactile warning regarding the negligent state of the driver.

[0015] The controller may be configured to identify at least one of the situation of detecting that both hands leave the steering wheel, the situation of detecting the drowsy state of the driver, and the situation that the driver does not look ahead for more than a predetermined time as the negligent state of the driver.

[0016] According to one aspect of the present disclosure, a control method of a vehicle includes: checking the activation state of a driver assistance system; obtaining the behavior data of a driver; identifying the negligent state of the driver based on the behavior data of the driver; and when the negligent state of the driver is detected, activating a speed control mode to control at least one of an accelerator and a braking device.

[0017] The control method may further include: determining a limited speed of the vehicle; and controlling at least one of an accelerator and a brake device based on the limited speed.

[0018] The control method may further include: deactivating a speed control mode when a driving intention of the driver is detected after a negligent state of the driver is detected.

[0019] Determining the limited speed of the vehicle may include: comparing a set speed of the driver, a predetermined reference speed, and a current speed; and determining the limited speed based on a comparison result.

[0020] The control method may further include: when the current speed becomes less than the limited speed due to deceleration while driving at the limited speed, determining whether a driver assistance system performs the deceleration; and when the driver assistance system performs the deceleration, changing the limited speed to the decelerated current speed.

[0021] Determining the limited speed of the vehicle may include: determining a minimum value among the set speed, the reference speed, and the current speed as the limited speed.

[0022] The control method may further include: controlling a warning device to output at least one of a visual warning, an auditory warning, and a tactile warning regarding a negligent state of the driver.

[0023] Identifying the negligent state of the driver may include: identifying at least one of a situation where both hands are detected to leave the steering wheel, a situation where a drowsy state of the driver is detected, and a situation where the driver does not look ahead for a predetermined time or more as the negligent state of the driver. Description of the Drawings

[0024] These and / or other aspects of the present disclosure will become apparent and easier to understand from the following description of embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A control block diagram of a vehicle according to an embodiment of the present disclosure is shown;

[0026] Figure 2 A camera and a radar included in a vehicle according to an embodiment of the present disclosure are shown;

[0027] Figure 3 A flowchart schematically depicting a control method of a vehicle according to an embodiment of the present disclosure is shown;

[0028] Figure 4 A flowchart showing a method of determining an initial limited speed when speed control is activated by a control method of a vehicle according to an embodiment of the present disclosure is shown;

[0029] Figure 5A flowchart showing a method of changing a limit speed when deceleration occurs by a control method of a vehicle according to an embodiment of the present disclosure. Detailed Description

[0030] The same reference numerals always denote the same elements throughout the specification. Not all elements of the embodiments of the present disclosure have been described, and descriptions of well-known common general knowledge in the art or overlapping parts in each embodiment have been omitted. Terms such as “- part”, “- module”, “- component”, “- block” and the like used throughout the specification may be implemented in software and / or hardware, and a plurality of “- parts”, “- modules”, “- components” or “- blocks” may be implemented as a single element, or a single “- part”, “- module”, “- component” or “- block” may include a plurality of elements.

[0031] It should be understood that when an element is referred to as being “connected” to another element, the element may be directly or indirectly connected to the other element. Indirect connection may include “connection” through a wireless communication network.

[0032] Moreover, when a component “includes” or “contains” an element, unless otherwise specifically stated to the contrary, the component may further include other elements without excluding other elements.

[0033] It should be understood that although terms such as first, second, third, etc. may be used herein to describe various elements, they should not be limited by these terms. These terms are only used to distinguish one element from another.

[0034] As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly dictates otherwise.

[0035] Identification codes are used for convenience of description, but the identification codes are not intended to indicate the order of each step. Each step in each step may be implemented in an order different from the shown order, unless the context clearly dictates otherwise.

[0036] Throughout the specification, terms such as “surrounding” and “nearby” refer to elements or objects relatively close to the vehicle.

[0037] Hereinafter, the operating principle and embodiments of the present disclosure will be described with reference to the drawings.

[0038] Figure 1 A control block diagram of a vehicle according to an embodiment of the present disclosure is shown.

[0039] Refer to Figure 1, Vehicle 10 according to an embodiment includes a camera 110, a front radar 120, an angular radar 130, a driver state sensor 140, a speed sensor 150, a warning device 210, a braking device or braking system 220, an accelerator 230, a steering device 240, a driver assistance system (DAS) 250, and a controller 300. The controller 300 may be electrically connected to various devices included in the vehicle 10 and may control these devices.

[0040] Vehicle 10 further includes an engine and a transmission. The engine includes cylinders and pistons. The engine may generate power for the vehicle 10 to travel. The transmission includes multiple gears and may transmit the power generated by the engine to the wheels. The braking device 220 may decelerate or stop the vehicle 10 by friction with the wheels. The steering device 240 may change the traveling direction of the vehicle 10.

[0041] Vehicle 10 may include a plurality of electronic components. For example, vehicle 10 may further include an engine management system (EMS), a transmission control unit (TCU), an electronic brake control module, an electronic steering device (electric power steering, EPS), and a body control module (BCM).

[0042] The EMS may control the engine in response to the driver's acceleration intention through the accelerator pedal or a request from the driver assistance system. Throughout the specification, the driver's intention may refer to the driver's performance of various actions, i.e., the intention to drive, brake, or accelerate the vehicle. In an example, the engine management system may control the torque of the engine.

[0043] The TCU may control the transmission in response to the driver's gear shifting command through the gearshift lever and / or the traveling speed of the vehicle 10. In an example, the transmission control unit may adjust the gear ratio from the engine to the wheels.

[0044] The accelerator 230 may be defined as including the engine, the transmission, the EMS, and the TCU or cooperating with the engine, the transmission, the EMS, and the TCU. Additionally, the accelerator 230 may include an accelerator pedal.

[0045] The electronic brake control module can control the brake device 220 in response to the driver's braking intention through the brake pedal and / or the slip of the wheel. In an example, the electronic brake control module can temporarily release the brake of the wheel (antilock braking system, ABS) in response to the detected slip of the wheel when the vehicle 10 brakes. The electronic brake control module can selectively release the brake of the wheel (electronic stability control, ESC) in response to oversteering and / or understeering detected during the steering of the vehicle 10. Additionally, the electronic brake control module can temporarily brake the wheel (traction control system, TCS) in response to the detected slip of the wheel when the vehicle 10 is being driven.

[0046] The electronic steering device can assist the operation of the steering device 240 in response to the driver's steering intention through the steering wheel to make it easier for the driver to operate the steering wheel. For example, the electronic steering device can assist the operation of the steering device 240 to reduce the steering force at low speed or when parking and increase the steering force at high speed.

[0047] The body control module can control the operation of electronic components that provide convenience to the driver or ensure the driver's safety. In an example, the body control module can control the airbag device, headlights, wipers, combination instrument, multifunction switch, turn signals, etc.

[0048] The driver assistance system 250 can assist the driver in maneuvering (driving, braking, steering) the vehicle 10. For example, the driver assistance system 250 can detect the environment around the vehicle 10 (e.g., other vehicles, pedestrians, cyclists, lanes, signs, etc.). The driver assistance system 250 can control the driving and / or braking and / or steering of the vehicle 10 in response to the detected environment.

[0049] The driver assistance system 250 can provide various functions to the driver. For example, the driver assistance system 250 can provide at least one of the following: lane departure warning (LDW), lane keeping assist (LKA), high beam assist (HBA), automatic emergency braking (AEB), traffic sign recognition (TSR), intelligent cruise control (SCC), highway driving assist (HDA), and blind spot detection (BSD).

[0050] The vehicle 10 can be provided with switches and / or buttons for operating the driver assistance system 250. In an example, the steering wheel of the vehicle 10 can be provided with an SCC ON / OFF switch, a speed setting switch, and a distance setting switch for operating the intelligent cruise control (SCC).

[0051] The camera 110 can capture the front and identify other vehicles, pedestrians, cyclists, lanes, signs, etc. The front radar 120 and the corner radar 130 can obtain the relative positions, relative speeds, etc. of surrounding objects (e.g., other vehicles, pedestrians, cyclists, etc.). The front radar 120 and the corner radar 130 can be implemented with lidar (Light Detection and Ranging).

[0052] The driver state sensor 140 can obtain the driver's behavior data. The driver state sensor 140 can be arranged inside the vehicle 10 in various forms. In an example, the driver state sensor 140 can include at least one of the following: a hands-off sensor that detects when the driver's hands leave the steering wheel, a galvanic skin response (GSR) sensor that measures the user's skin conductivity, a skin temperature sensor that measures the user's skin temperature, a heart rate (HR) sensor that measures the user's heart rate, an electroencephalogram (EEG) sensor that measures the user's brain waves, a voice recognition sensor that measures the user's voice signal, a face analysis device that can analyze the user's facial expression, and an eye tracker that tracks the position of the user's pupils. The driver state sensor 140 is not limited to the sensors shown or described above or herein.

[0053] The hands-off sensor can detect when the driver's hands leave the steering wheel, i.e., the hands-off situation. The hands-off sensor can detect when the driver's hands leave the steering wheel by measuring the capacitance using a conductive material provided on the steering wheel. Additionally, the hands-off sensor can quickly determine whether the driver is holding the steering wheel with both hands and transmit a hands-off detection signal to the controller 300.

[0054] Additionally, the hands-off sensor can use various methods to detect when the driver's hands leave the steering wheel. In an example, the hands-off sensor can measure the steering torque and detect that the hands leave the steering wheel when the measured steering torque is less than a reference torque.

[0055] The speed sensor 150 can detect the speed of the wheels and / or the speed of the vehicle 10. On the other hand, the vehicle 10 can be provided with various sensors for obtaining the vehicle's behavior information. In an example, the vehicle 10 can further include: a lateral acceleration sensor for detecting the lateral acceleration of the vehicle; a yaw rate sensor for detecting the change in the angular velocity of the vehicle; a gyroscope sensor for detecting the tilt of the vehicle; and a steering angle sensor for detecting the rotation and steering angle of the steering wheel.

[0056] The warning device 210 may be configured to provide at least one of a visual warning, an audible warning, and a haptic warning. When a driver's negligent state is detected for a predetermined time, the controller 300 may control the warning device 210 to provide a warning. The controller 300 may control the warning device 210 to output at least one of a visual warning, an audible warning, and a haptic warning regarding the driver's negligent state. In an example, the warning device 210 may output a warning message including at least one of text, voice, and an image through an audio device and / or a display device. A warning regarding the driver's negligent state may be output for a predetermined warning time.

[0057] The above configurations may communicate with each other through a vehicle communication network (NT). For example, components of the vehicle 10 may send and receive data through Ethernet, Media Oriented Systems Transport (MOST), FlexRay, Controller Area Network (CAN), and Local Interconnect Network (LIN).

[0058] The controller 300 includes a processor 310 and a memory 320. The controller 300 may include one or more processors 310. The processor 310 may include: an image signal processor for processing front image data of the front camera (110); a digital signal processor for processing radar data of the radars 120 and 130; and a micro control unit (MCU) for generating an acceleration signal, a brake signal, and a steering signal.

[0059] The memory 320 may store programs and / or data for the processor 310 to process image data, programs and / or data for processing radar data, and programs and / or data for the processor 310 to generate an acceleration signal, a brake signal, and / or a steering signal. Additionally, the memory 320 may store a program including computer-executable instructions to cause the processor 310 to execute and operate the driver assistance system 250.

[0060] The memory 320 may temporarily store image data received from the camera 110 and / or radar data received from the radars 120 and 130. The memory 320 may temporarily store the processing results of the processor 310 on the image data and / or the radar data.

[0061] The memory 320 may include non-volatile memories such as flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), etc., and volatile memories such as S-RAM and D-RAM.

[0062] One or more processors 310 included in the controller 300 may be provided and integrated on one chip. When multiple processors 310 are provided, the multiple processors 310 may be physically separated. Additionally, the processor 310 and the memory 320 may be implemented as a single chip.

[0063] The controller 300 can process the image data of the camera 110, the front radar data of the front radar 120, and the corner radar data of the corner radar 130. The controller 300 can process the driver behavior data of the driver state sensor 140 and the speed data of the speed sensor 150. Additionally, the controller 300 can generate control signals for controlling the warning device 210, the braking device 220, the accelerator 230, the steering device 240, and the driver assistance system 250.

[0064] The controller 300 can identify an object around the vehicle 10 based on at least one of the image data and the radar data. Additionally, the controller 300 can calculate the time to collision (TTC) with the object and determine the collision risk based on the TTC. The controller 300 can control the driver assistance system 250 and the braking device 220 based on the collision risk.

[0065] Figure 2 Shows the camera and radar included in a vehicle according to an embodiment of the present disclosure.

[0066] Refer to Figure 2 , the camera 110 can have a field of view 110a facing forward. For example, the camera 110 can be mounted on the front windshield of the vehicle 10. The camera 110 can capture the front of the vehicle 10 and obtain image data of the front of the vehicle 10. The image data of the front of the vehicle 10 can include position information about other vehicles or lanes located in front of the vehicle 10.

[0067] The camera 110 can include multiple lenses and an image sensor. The image sensor can include multiple photodiodes for converting light into electrical signals. The multiple photodiodes can be arranged in a two-dimensional matrix.

[0068] The camera 110 can be electrically connected to the controller 300. In an example, the camera 110 can be connected to the controller 300 through the vehicle's communication network NT, a hard wire, or a printed circuit board (PCB). The camera 110 can transmit the image data of the front of the vehicle 10 to the controller 300.

[0069] The front radar 120 can have a sensing field 120a facing the front of the vehicle 10. For example, the front radar 120 can be mounted in the grille or bumper of the vehicle 10.

[0070] The front radar 120 may include a transmitting antenna (or transmitting antenna array, transmitting antenna, transmitter antenna, etc.) that radiates and emits radio waves toward the front of the vehicle 10. The front radar 120 may include a receiving antenna (or receiving antenna array, receiving antenna, receiver antenna, etc.) that receives the reflected radio waves reflected from an object. The front radar 120 may obtain front radar data from the transmitted radio waves emitted by the transmitting antenna and the reflected radio waves received by the receiving antenna. The front radar data may include distance information and speed information about other vehicles located in front of the vehicle 10. The front radar 120 calculates the relative distance to the object based on the phase difference (or time difference) between the transmitted radio wave and the reflected radio wave. The front radar 120 calculates the relative speed of the object based on the frequency difference between the transmitted radio wave and the reflected radio wave.

[0071] For example, the front radar 120 may be connected to the controller 300 via the vehicle's communication network NT or a hard wire or a printed circuit board. The front radar 120 may transmit the front radar data to the controller 300.

[0072] The corner radar 130 may include: a first corner radar 130-1 mounted on the front right side of the vehicle 10; a second corner radar 130-2 mounted on the front left side of the vehicle 10; a third corner radar 130-3 mounted on the rear right side of the vehicle 10; and a fourth corner radar 130-4 mounted on the rear left side of the vehicle 10.

[0073] The first corner radar 130-1 may have a sensing field 130-1a facing the front right side of the vehicle 10. The second corner radar 130-2 may have a sensing field 130-2a facing the front left side of the vehicle 10. The third corner radar 130-3 may have a sensing field 130-3a facing the rear right side of the vehicle 10. The fourth corner radar 130-4 may have a sensing field 130-4a facing the rear left side of the vehicle 10.

[0074] Each of the corner radars 130 may include a transmitting antenna and a receiving antenna. The first corner radar 130-1, the second corner radar 130-2, the third corner radar 130-3, and the fourth corner radar 130-4 may obtain first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively. The first corner radar data may include distance information and speed information about an object (other vehicle) located on the front right side of the vehicle 10. The second corner radar data may include distance information and speed information about an object located on the front left side of the vehicle 10. The third corner radar data and the fourth corner radar data may include distance information and speed information about objects located on the rear right side and the rear left side of the vehicle 10.

[0075] Each of the corner radars 130 can be connected to the controller 300 via the vehicle communication network NT, hardwiring, or a printed circuit board. The first corner radar 130-1, the second corner radar 130-2, the third corner radar 130-3, and the fourth corner radar 130-4 can transmit first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data to the controller 300, respectively.

[0076] Figure 3 Shows a flowchart schematically depicting a control method for a vehicle according to an embodiment of the present disclosure.

[0077] Referring Figure 3 , the controller 300 of the vehicle 10 can check the activation status of the driver assistance system 250 (501). The activation status of the driver assistance system 250 can refer to the state in which the driver assistance system 250 is in operation and can be understood as being in the ON state. The activation status of the driver assistance system 250 can refer to a state in which at least one of intelligent cruise control (SCC), lane keeping assistance (LKA), and highway driving assistance (HDA) is activated.

[0078] The controller 300 can control the driver state sensor 140 to obtain the driver's behavior data. The controller 300 can identify the driver's inattentive state based on the driver's behavior data (502). When the driver's inattentive state is detected in the activation state of the driver assistance system, the controller 300 can control the warning device 210 to output a warning regarding the driver's inattentive state (503). As described above, the warning device 210 can output at least one of a visual warning, an auditory warning, and a tactile warning regarding the driver's inattentive state.

[0079] Subsequently, when the driver's driving intention is not detected within a predetermined time, the controller 300 can activate the speed control mode and determine the limited speed of the vehicle 10 (504 and 505). The limited speed determined in response to the activation of the speed control mode can be defined as the first limited speed.

[0080] In Figure 3 , the speed control mode is activated after outputting a warning regarding the driver's inattentive state, but it is not limited thereto. In other words, the controller 300 can independently execute the warning regarding the driver's inattentive state and enter the speed control mode. When the driver's inattentive state continues for a predetermined time, the controller 300 can activate the speed control mode before controlling the warning device 210.

[0081] When HDA is activated through the driver assistance system 250, the controller 300 can activate the speed control mode after deactivating HDA.

[0082] The driving intention of the driver can be detected in various ways. For example, when the driver operates the steering wheel, the accelerator pedal, or the switch of the driver assistance system 250, the controller 300 can determine that the driver has the driving intention.

[0083] The controller 300 can control at least one of the accelerator 230 and the brake device 220 (506) based on the determined speed limit. Specifically, the controller 300 can control at least one of the accelerator 230 and the brake device 220 so that the vehicle 10 travels at the speed limit. When the current speed of the vehicle 10 measured by the speed sensor 150 is less than the speed limit, the controller 300 can control the accelerator 230 to accelerate to the speed limit. Additionally, the controller 300 can control the brake device 220 so that the current speed does not exceed the speed limit.

[0084] As described above, when the negligent state of the driver is detected, the collision of the vehicle 10 can be prevented by controlling the speed of the vehicle 10. Therefore, the loss can be minimized even when a collision occurs.

[0085] Conversely, when the driver assistance system 250 is in the deactivated state or when the negligent state of the driver is not detected, the controller 300 may not enter the speed control mode. Additionally, when the driving intention of the driver is detected after the negligent state of the driver is detected, the controller 300 may not enter the speed control mode. When the driving intention of the driver is detected while the speed control mode is activated, the controller 300 may deactivate the speed control mode. Refer to Figure 4 and Figure 5 The determination of the speed limit (the first speed limit) according to the activation of the speed control mode is described in detail.

[0086] Figure 4 A flowchart showing a method for determining an initial speed limit when speed control is activated by a control method of a vehicle according to an embodiment of the present disclosure.

[0087] Refer to Figure 4 When the negligent state of the driver is detected in the activated state of the driver assistance system 250, the controller 300 activates the speed control mode (601). Subsequently, the controller 300 can compare the set speed of the driver, a predetermined reference speed, and the current speed, and determine the speed limit (the first speed limit) based on the comparison result. The set speed of the driver may refer to the target speed of the smart cruise control (SCC) input by the driver. The reference speed may refer to the speed basically set by the driver assistance system 250. In an example, the reference speed may be 60 km / h (37 mph).

[0088] The controller 300 may determine the minimum value among the set speed, the reference speed, and the current speed as the limit speed (the first limit speed). Specifically, the controller 300 first compares the driver's set speed with a predetermined reference speed (602). When the set speed is equal to or greater than the reference speed, the controller 300 compares the current speed with the reference speed (603). When the current speed is greater than or equal to the reference speed, the controller 300 determines the reference speed as the limit speed (605). On the contrary, when the current speed is less than the reference speed, the controller 300 determines the current speed as the limit speed (606).

[0089] In other words, when the set speed is greater than or equal to the reference speed and the current speed is greater than or equal to the reference speed, the controller 300 determines the reference speed as the limit speed. When the set speed is greater than or equal to the reference speed and the current speed is less than the reference speed, the controller 300 determines the current speed as the limit speed.

[0090] When the set speed is less than the reference speed, the controller 300 compares the current speed with the set speed (604). When the current speed is greater than or equal to the set speed, the controller 300 determines the set speed as the limit speed (607). On the contrary, when the current speed is less than the set speed, the controller 300 determines the current speed as the limit speed (606).

[0091] The controller 300 may control at least one of the accelerator 230 and the brake device 220 based on the determined limit speed (the first limit speed) (608). Specifically, the controller 300 may control at least one of the accelerator 230 and the brake device 220 so that the vehicle 10 travels at the limit speed. When the current speed of the vehicle 10 is less than the limit speed, the controller 300 may control the accelerator 230 to accelerate to the limit speed. In addition, the controller 300 may control the brake device 220 so that the current speed does not exceed the limit speed.

[0092] Figure 5 A flowchart showing a method of changing the limit speed when deceleration occurs by a control method of a vehicle according to an embodiment of the present disclosure.

[0093] Figure 5 The method shown in Figure 4 is a continuation of the method shown in. Referring to Figure 5 , the controller 300 controls at least one of the accelerator 230 and the brake device 220 based on the determined limit speed (701). When the vehicle 10 is traveling at the limit speed and the current speed becomes less than the limit speed due to deceleration, the controller 300 determines whether the driver assistance system 250 performs deceleration (702, 703).

[0094] When the driver assistance system 250 performs deceleration, the controller 300 changes the limit speed to the current speed after deceleration (704). The changed limit speed may be defined as a second limit speed. The controller 300 controls at least one of the accelerator 230 and the brake device 220 based on the changed limit speed (second limit speed) (705).

[0095] However, when the current speed is equal to the limit speed (first limit speed) or when the driver assistance system 250 does not perform deceleration, the controller 300 does not change the limit speed.

[0096] The driver assistance system 250 may perform deceleration in various situations. In an example, the driver assistance system 250 may decelerate to maintain a distance from a vehicle ahead, decelerate to enter a curve ahead, and decelerate to avoid a collision with other vehicles. In other words, the situations in which the driver assistance system 250 performs deceleration may be referred to as situations where a collision risk is detected. An accident may occur when the vehicle 10 accelerates again in a situation where a collision risk is detected. Therefore, to ensure safety, when the driver assistance system 250 performs deceleration, the controller 300 changes the limit speed to the current speed after deceleration. In addition, the controller 300 controls the accelerator 230 and the brake device 220 not to exceed the changed limit speed (second limit speed).

[0097] A vehicle and a control method thereof according to an aspect of the present disclosure may provide a warning by detecting a driver's negligent state, and control the speed of the vehicle to prevent a collision and minimize damage in a case where the driver's negligent state is detected.

[0098] More specifically, when a driver's negligent state is detected, a vehicle and a control method thereof according to an aspect of the present disclosure may change the limit speed according to deceleration of the driver assistance system. The vehicle and the control method thereof may control the speed of the vehicle not to exceed the changed limit speed. Therefore, the probability of avoiding a collision is increased and damage can be reduced even in the event of a collision.

[0099] The disclosed embodiments may be implemented in the form of a recording medium storing computer-executable instructions. The instructions may be stored in the form of program code, and when run by a processor, the instructions may generate program modules to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0100] The computer-readable recording medium may include various recording media storing commands that can be parsed by a computer. In an example, the computer-readable recording medium may be a ROM, a RAM, a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, etc.

[0101] The embodiments of the present disclosure have been described above with reference to the accompanying drawings. Those of ordinary skill in the art should understand that the present disclosure can be practiced in a form different from the above embodiments without changing the technical idea or essential features of the present disclosure. The above embodiments are merely examples and should not be construed in a limiting sense.

Claims

1. A vehicle, comprising: A driver assistance system; An accelerator for performing acceleration of the vehicle; A braking device for performing deceleration of the vehicle; A speed sensor for detecting the current speed of the vehicle; A driver status sensor for obtaining the behavior data of the driver; And A controller for identifying the negligence state of the driver based on the behavior data of the driver, and activating a speed control mode to control at least one of the accelerator and the braking device when the negligence state of the driver is detected in the activated state of the driver assistance system, Wherein the controller: Compares the set speed of the driver, a predetermined reference speed, and the current speed according to the activation of the speed control mode, Determines the minimum value among the set speed, the reference speed, and the current speed as the limit speed, and Controls at least one of the accelerator and the braking device based on the limit speed, Wherein when the current speed becomes less than the limit speed due to deceleration while traveling at the limit speed, the controller determines whether the driver assistance system performs the deceleration, and when the driver assistance system performs the deceleration, changes the limit speed to the decelerated current speed, or when the driver assistance system does not perform the deceleration, controls the accelerator to accelerate the vehicle to the limit speed, and Wherein when the driving intention of the driver is detected after the negligence state of the driver is detected, the controller deactivates the speed control mode.

2. The vehicle according to claim 1, further comprising: A warning device for providing at least one of a visual warning, an audible warning, and a tactile warning, Wherein the controller controls the warning device to output at least one of a visual warning, an audible warning, and a tactile warning regarding the negligence state of the driver.

3. The vehicle according to claim 1, wherein The controller identifies at least one of the situation of detecting that both hands leave the steering wheel, the situation of detecting the drowsy state of the driver, and the situation that the driver does not look ahead for more than a predetermined time as the negligence state of the driver.

4. A control method for a vehicle, comprising: Checking the activation state of the driver assistance system; Obtaining the behavior data of the driver; Identifying the negligence state of the driver based on the behavior data of the driver; And When the negligence state of the driver is detected, activating a speed control mode to control at least one of the accelerator and the braking device, Comparing the set speed of the driver, a predetermined reference speed, and the current speed, Determining the minimum value among the set speed, the reference speed, and the current speed as the limit speed, Controlling at least one of the accelerator and the braking device based on the limit speed, When the current speed becomes less than the limit speed due to deceleration while traveling at the limit speed, determining whether the driver assistance system performs the deceleration, When the driver assistance system performs the deceleration, change the restricted speed to the current speed after deceleration, or when the driver assistance system does not perform the deceleration, control the accelerator to accelerate the vehicle to the restricted speed, and When the driving intention of the driver is detected after detecting the negligent state of the driver, deactivate the speed control mode.

5. The control method according to claim 4, further comprising: Controlling a warning device to output at least one of a visual warning, an auditory warning, and a tactile warning regarding the negligent state of the driver.

6. The control method according to claim 4, wherein Identifying the negligent state of the driver includes: Identifying at least one of a situation where both hands are detected to have left the steering wheel, a situation where the sleepy state of the driver is detected, and a situation where the driver has not looked ahead for a predetermined time or more as the negligent state of the driver.

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