Driver assistance device, vehicle having the device and method of controlling a vehicle

Abstract

The invention relates to a driver assistance device, a vehicle having the device and a method of controlling a vehicle. The driver assistance device comprises a first radar sensor obtaining a left rear field of view outside the vehicle and a second radar sensor obtaining a right rear field of view outside the vehicle. The first radar sensor is configured to output first detection data and the second radar sensor is configured to output second detection data. A controller is configured to process the first detection data and the second detection data, to generate a plurality of detection points based on the processing, to generate a first trajectory and a second trajectory based on the plurality of detection points, to identify a correctly detected trajectory and a falsely detected trajectory among the first trajectory and the second trajectory, and to warn of a collision located in a direction of the correctly detected trajectory.

Description

Technical Field

[0001] The present invention relates to a driver assistance device, a vehicle having the device, and a method for controlling the vehicle, and more particularly, to a driver assistance device for assisting a driver in vehicle control, a vehicle having the device, and a method for controlling the vehicle. Background Technology

[0002] With the development of automotive technology, cars have the advantage of long-distance travel, but problems often arise in densely populated areas where traffic conditions deteriorate and congestion increases.

[0003] To reduce driver workload and increase driver convenience, research is currently underway on vehicles equipped with Advanced Driver Assist Systems (ADAS) that proactively provide information about vehicle status, driver status, and surrounding conditions.

[0004] Examples of vehicles equipped with ADAS include Forward Collision Avoidance (FCA), Autonomous Emergency Brake (AEB), and Driver Attention Warning (DAW).

[0005] Driver assistance devices can assist in driving and parking a vehicle. Summary of the Invention

[0006] This invention relates to a driver assistance device, a vehicle having the device, and a method for controlling the vehicle. Specific embodiments relate to a driver assistance device for assisting a driver in vehicle control, a vehicle having the device, and a method for controlling the vehicle.

[0007] One aspect of the present invention provides a driver assistance device, a vehicle having the device, and a method for controlling the vehicle, wherein the driver assistance device is capable of assisting the driver when the vehicle leaves a parking space.

[0008] Another aspect of the invention provides a driver assistance device, a vehicle having the device, and a method for controlling the vehicle, wherein the driver assistance device is capable of preventing a rear-end collision when the vehicle leaves a parking space.

[0009] Another aspect of the invention provides a driver assistance device, a vehicle having the device, and a method for controlling the vehicle, wherein the driver assistance device can prevent false warnings of rear-end collisions when the vehicle leaves a parking space.

[0010] Further aspects of the invention will be set forth in part in the description which follows, and will be apparent in part from the description, or may be learned by practice of the invention.

[0011] According to one aspect of the invention, a driver assistance device includes a first radar sensor mounted on a vehicle and obtaining a field of view to the left rear of the vehicle. The first radar sensor is configured to output first detection data. A second radar sensor mounted on the vehicle and obtaining a field of view to the right rear of the vehicle. The second radar sensor is configured to output second detection data. A controller is configured to process the first and second detection data, generate a plurality of detection points based on the processing of the first and second detection data, generate a first trajectory and a second trajectory based on the plurality of detection points, identify normally detected trajectories and erroneously detected trajectories in the first and second trajectories, and warn of a collision in the direction of the normally detected trajectory.

[0012] The controller can be configured to: identify the longitudinal distance of the first trajectory based on the distance between the first trajectory and the vehicle and the angle between the vehicle's driving direction and the direction in which the first trajectory is located; and identify the longitudinal distance of the second trajectory based on the distance between the second trajectory and the vehicle and the angle between the vehicle's driving direction and the direction in which the second trajectory is located.

[0013] The controller can be configured to identify at least one of the first and second trajectories as an incorrectly detected trajectory based on the difference between the longitudinal distance of the first trajectory and the longitudinal distance of the second trajectory being within an error range.

[0014] The controller can be configured to warn of a collision in the direction of the first trajectory based on the fact that the number of detection points associated with the first trajectory is greater than the number of detection points associated with the second trajectory.

[0015] The controller can be configured to: identify the lateral movement speed of the first trajectory based on the distance between the first trajectory and the vehicle and the angle between the vehicle's driving direction and the direction in which the first trajectory is located, and identify the lateral movement speed of the second trajectory based on the distance between the second trajectory and the vehicle and the angle between the vehicle's driving direction and the direction in which the second trajectory is located.

[0016] The controller can be configured to identify at least one of the first and second trajectories as an incorrectly detected trajectory based on the difference between the lateral movement speed of the first trajectory and the lateral movement speed of the second trajectory being within an error range.

[0017] The controller can be configured to warn of a collision in the direction of the first trajectory based on the fact that the number of detection points associated with the first trajectory is greater than the number of detection points associated with the second trajectory.

[0018] According to another aspect of the invention, a vehicle includes a combination instrument panel, an exterior rearview mirror indicator, and a driver assistance device configured to control the combination instrument panel and the exterior rearview mirror indicator. The driver assistance device may further include a first radar sensor mounted on the vehicle and obtaining a field of view to the left rear of the vehicle. The first radar sensor is configured to output first detection data. A second radar sensor mounted on the vehicle and obtaining a field of view to the right rear of the vehicle. The second radar sensor is configured to output second detection data. A controller is configured to process the first and second detection data, generate a plurality of detection points based on the processing of the first and second detection data, generate a first trajectory and a second trajectory based on the plurality of detection points, identify normally detected trajectories and erroneously detected trajectories in the first and second trajectories, and control at least one of the combination instrument panel and the exterior rearview mirror indicator to warn of a collision in the direction of a normally detected trajectory.

[0019] According to another aspect of the present invention, a method for controlling a vehicle includes: outputting first detection data by a first radar sensor mounted on the vehicle and obtaining a field of view to the left rear of the vehicle's exterior, and outputting second detection data by a second radar sensor mounted on the vehicle and obtaining a field of view to the right rear of the vehicle's exterior. The controller processes the first and second detection data, generates a plurality of detection points based on the processing of the first and second detection data, generates a first trajectory and a second trajectory based on the plurality of detection points, identifies normally detected trajectories and erroneously detected trajectories in the first and second trajectories, and issues a warning of a collision in the direction of the normally detected trajectory. Attached Figure Description

[0020] These and / or other aspects of the invention will become apparent and more readily understood from the following description of embodiments, taken in conjunction with the accompanying drawings, in which:

[0021] Figure 1 This is a schematic diagram illustrating the configuration of a vehicle according to the implementation scheme.

[0022] Figure 2 This is a schematic diagram showing the exterior of the vehicle according to the implementation scheme.

[0023] Figure 3 and Figure 4 This is a schematic diagram illustrating the operation of the radar included in a driver assistance device according to an embodiment.

[0024] Figure 5 and Figure 6 This is a schematic diagram illustrating an example of a driver assistance device, according to an implementation scheme, identifying the risk of collision between a vehicle and an object behind it.

[0025] Figure 7 This is a schematic diagram illustrating how a driver assistance device, according to an implementation scheme, obtains information by detecting data.

[0026] Figure 8 This is a schematic diagram illustrating how a driver assistance device, according to an implementation scheme, actually identifies another vehicle based on detection data.

[0027] Figure 9 This is a schematic diagram illustrating the operation of a driver assistance device according to an embodiment. Detailed Implementation

[0028] The following detailed description is provided to assist the reader in gaining a comprehensive understanding of the methods, apparatus, and / or systems described herein. Therefore, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein are to be suggested to those skilled in the art. The described process of operations is exemplary; however, the order of operations and / or the operations are not limited to the order described herein and can be changed as is known in the art, except for operations that must occur in a specific order. Furthermore, for clarity and conciseness, corresponding descriptions of well-known functions and constructions may be omitted.

[0029] Furthermore, exemplary embodiments will now be described more fully below with reference to the accompanying drawings. However, exemplary embodiments may be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided so that the invention will be thorough and complete, and will fully convey the exemplary embodiments to those skilled in the art. The same reference numerals refer to the same elements from the beginning.

[0030] It should be understood that while the terms first, second, etc., may be used in this document to describe individual elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. As used herein, the term "and / or" includes any and all combinations of one or more of the associated enumerated items.

[0031] It should be understood that when a component is referred to as "connected" or "linked" to another component, it can be directly connected or linked to the other component, or there may be intermediate components. Conversely, when a component is referred to as "directly connected" or "directly linked" to another component, there are no intermediate components.

[0032] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0033] Reference will now be made in detail to exemplary embodiments of the invention, examples of which are shown in the accompanying drawings, wherein the same reference numerals refer to the same elements from the beginning.

[0034] The expression "at least one of a, b and c" should be understood as including only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b and c.

[0035] The working principle and embodiments of the present invention will be described below with reference to the accompanying drawings.

[0036] Figure 1 This is a schematic diagram illustrating the configuration of a vehicle according to the implementation scheme. Figure 2 This is a schematic diagram showing the exterior of the vehicle according to the implementation scheme. Figure 3 and Figure 4 This is a schematic diagram illustrating the operation of the radar included in a driver assistance device according to an embodiment. Figure 5 and Figure 6 This is a schematic diagram illustrating an example of a driver assistance device, according to an implementation scheme, identifying the risk of collision between a vehicle and an object behind it. Figure 7 This is a schematic diagram illustrating how a driver assistance device, according to an implementation scheme, obtains information by detecting data. Figure 8 This is a schematic diagram illustrating how a driver assistance device, according to an implementation scheme, actually identifies another vehicle based on detection data.

[0037] refer to Figures 1 to 8 The vehicle 1 may include: a combination instrument panel 10 for displaying operating information of the vehicle 1, an exterior rearview mirror indicator 20 for warning of objects located behind the vehicle 1, a multimedia device 30 for playing music and images, a power steering device 40 for assisting the driver in steering, and a driver assistance device 100 for assisting the driver.

[0038] The instrument cluster 10 displays vehicle 1's driving information (including vehicle 1's speed, engine speed, and / or fuel level) and can be positioned in front of the driver, such as... Figure 4 As shown. The instrument cluster 10 can display emergency information such as the risk of collision with vehicle 1 in response to a control request from the driver assistance device 100.

[0039] The multimedia device 30 may include a display 31 and a speaker 32. The display 31 is used to display images (or moving images) for the driver's convenience and enjoyment, and the speaker 32 is used to output sound for the driver's convenience and enjoyment. The display 31 may display image messages about emergency situations such as the risk of collision with vehicle 1 in response to a control request from the driver assistance device 100. The speaker 32 may display audio messages about emergency situations such as the risk of collision with vehicle 1 in response to a request from the driver assistance device 100.

[0040] The power steering system 40 can detect the driver's intention to steer via the steering wheel of the vehicle 1 and assist the steering of the vehicle 1 in response to the driver's steering intention. In addition, the power steering system 40 can provide steering wheel vibration in response to a control request from the driver assistance device 100 to warn of emergency situations such as the risk of collision with the vehicle 1.

[0041] The driver assistance device 100 may include: a first radar sensor 110 mounted on the left rear side of the vehicle 1, a second radar sensor 120 mounted on the right rear side of the vehicle 1, an input switch 130 for activating and deactivating driver assistance, and a controller 140 for controlling the operation of the driver assistance device 100.

[0042] like Figure 2 As shown, the first radar sensor 110 may have a first sensing field 110a facing the left rear of the vehicle 1.

[0043] The first radar sensor 110 may include a transmitting antenna module 111 (e.g., a transmitting antenna array) that radiates a frequency-modulated continuous wave 112 toward the left rear of the vehicle 1 and a receiving antenna module 121 (e.g., a receiving antenna array) that receives reflected radio waves 122 reflected from an object.

[0044] like Figure 4 As shown, the transmitting antenna module 111 may include at least one antenna 111a, and the receiving antenna module 121 may include multiple antennas 121a, 121b, 121c, and 121d. In this embodiment, a transmitting antenna module 111 including at least one antenna and a receiving antenna module 121 including multiple antennas are described, but the implementation is not limited thereto. As described below, at least one of the transmitting antenna module 111 and the receiving antenna module 121 includes multiple antennas to identify the relative orientation of an object. Therefore, the transmitting antenna module 111 may include multiple antennas, and the receiving antenna module 121 may include at least one antenna.

[0045] The transmitting antenna module 111 can be disposed on a virtual line containing multiple antennas, or the transmitting antenna module 111 can be disposed on a virtual line that is substantially perpendicular to the virtual line containing multiple antennas.

[0046] The transmitting antenna module 111 can transmit a frequency-modulated continuous wave 112 in response to a control signal from the controller 140. The transmitting antenna module 111 can transmit, for example, a frequency-modulated continuous wave (FMCW) 112 whose frequency varies linearly with time, such as... Figure 3 As shown, the frequency of the frequency-modulated continuous wave 112 can be linearly increased and decreased over time within a predetermined range.

[0047] The receiving antenna module 121 can receive reflected radio waves 122, wherein the frequency-modulated continuous wave 112 emitted by the transmitting antenna module 111 is reflected from an object (e.g., other vehicles, pedestrians, bicycles, road structures, etc.).

[0048] The receiving antenna module 121 can receive, for example, reflected radio waves 122 whose frequency varies linearly with time, such as... Figure 3 As shown. Similar to the frequency of the frequency-modulated continuous wave 112, the frequency of the reflected radio wave 122 can linearly increase and decrease over time within a predetermined range. Likewise, the reflected radio wave 122 can be received by the receiving antenna module 121 by reflecting the frequency-modulated continuous wave 112 emitted by the transmitting antenna module 111 onto the object. Therefore, since the reflected radio wave 122 received by the receiving antenna module 121 originates from the frequency-modulated continuous wave 112 emitted by the transmitting antenna module 111 before the reception time, the frequency of the reflected radio wave 122 received by the receiving antenna module 121 is different from the frequency of the reflected radio wave 122 currently emitted by the transmitting antenna module 111. Furthermore, the difference between the frequency of the reflected radio wave 122 received by the receiving antenna module 121 and the frequency of the frequency-modulated continuous wave 112 currently emitted by the transmitting antenna module 111 can depend on the distance from the first radar sensor 110 to the object.

[0049] The first radar sensor 110 can be electrically connected to the controller 140 via, for example, a vehicle communication network NT, hardwiring, or a printed circuit board. The first radar sensor 110 can provide detection data to the controller 140, including information about the frequency of reflected radio waves 122 received by the receiving antenna module 121 and information about the frequency of the frequency-modulated continuous wave 112 currently being transmitted by the transmitting antenna module 111.

[0050] As described below, controller 140 can identify the distance from the first radar sensor 110 to the object based on detection data. The operation of controller 140 is described in more detail below.

[0051] The second radar sensor 120 may have a second sensing field 120a facing the right rear of the vehicle 1, such as Figure 2 As shown.

[0052] The first radar sensor 110 may include a transmitting antenna module 111 (e.g., a transmitting antenna array) that radiates a frequency-modulated continuous wave 112 toward the left rear of the vehicle 1 and a receiving antenna module 121 (e.g., a receiving antenna array) that receives reflected radio waves 122 reflected from an object.

[0053] The second radar sensor 120 may include a transmitting antenna (or transmitting antenna array) that radiates a frequency-modulated continuous wave toward the right rear of vehicle 1, and multiple receiving antennas (or receiving antenna arrays). The structure and function of the transmitting and receiving antennas of the second radar sensor 120 are substantially the same as those of the transmitting antenna module 111 and receiving antenna modules 121a, 121b, 121c, and 121d of the first radar sensor 110 described above. Therefore, the description of the transmitting and receiving antennas of the second radar sensor 120 will be replaced by the description of the transmitting antenna module 111 and receiving antenna modules 121a, 121b, 121c, and 121d of the first radar sensor 110.

[0054] The input switch 130 can receive driver input for activating or deactivating the driver assistance device 100. For example, the input switch 130 can be mounted on the steering wheel. Furthermore, the input switch 130 may include, for example, a touch switch, a push switch, a slide switch, a toggle switch, a micro switch, or a touch switch.

[0055] The controller 140 can be electrically connected to the first radar sensor 110, the second radar sensor 120, and the input switch 130. Furthermore, the controller 140 can be connected via the vehicle communication network NT to the vehicle 1's instrument cluster 10, exterior rearview mirror indicator 20, multimedia device 30, and power steering system 40.

[0056] Controller 140 may include processor 141 and memory 142. Controller 140 may include, for example, one or more processors or one or more memories. Each of processor 141 and memory 142 may be implemented as a separate semiconductor device, or may be implemented as a single semiconductor device.

[0057] The processor 141 can process the detection data of the first radar sensor 110 and the detection data of the second radar sensor 120, and provide control signals for controlling the operation of the driver assistance device 100.

[0058] Processor 141 may include a single chip (or core), or it may include multiple chips (or cores). For example, processor 141 may include a digital signal processor that processes detection data from the first radar 110 and the second radar 120, and / or a microcontroller unit (MCU) that generates drive signals / brake signals / steering signals.

[0059] The processor 141 can identify objects (e.g., other vehicles, pedestrians, cyclists, etc.) behind (left or right rear) the vehicle 1 based on detection data from the first radar sensor 110 and the second radar sensor 120.

[0060] Furthermore, the processor 141 can identify the distance between the vehicle 1 and the object (hereinafter referred to as "relative distance"), the direction of the object relative to the vehicle 1 (hereinafter referred to as "relative direction"), and the relative speed of the object relative to the vehicle 1 (hereinafter referred to as "relative speed") based on the detection data of the first radar sensor 110 and the second radar sensor 120.

[0061] As described above, the first radar sensor 110 and the second radar sensor 120 operate using the FMCW method. The processor 141 can identify the relative distance based on the frequency of the frequency-modulated continuous wave 112 transmitted by the transmitting antenna module 111 and the frequency of the reflected radio wave 122 received by the receiving antenna module 121.

[0062] First, the operation performed by the first radar sensor 110 will be described.

[0063] For example, the transmitting antenna module 111 can be Figure 3 At time T1, radio waves of frequency F1 are transmitted, while the receiving antenna module 121 can receive radio waves of frequency F2 at time T2.

[0064] The time ΔT from the transmission of a radio wave with frequency F1 to its reception by an object can be obtained by the difference between the time T1 when the radio wave with frequency F1 is transmitted and the time T2 when the radio wave with frequency F2 is received.

[0065] The frequency change ΔF from the transmission of the radio wave at frequency F1 to its reception by reflection from an object can be obtained by the difference between the frequency F1 of the frequency-modulated continuous wave at time T2 and the frequency F2 of the received radio wave.

[0066] exist Figure 3 In this context, during the modulation period Tm of periodically modulating the frequency of a frequency-modulated continuous wave, the modulation rate Fr of the frequency-modulated continuous wave can be obtained from the modulation width Fw of a predetermined frequency and the predetermined modulation period Tm. Specifically, the modulation rate Fr can be obtained by <2×Fw / Tm>.

[0067] In this case, the frequency modulation rate Fr can be equal to the ratio of the frequency change ΔF during the time ΔT between time T1 and time T2, that is, <ΔF / ΔT>. In other words, [Equation 1] is established.

[0068] [Equation 1] 2×Fw / Tm=ΔF / ΔT

[0069] Here, Fw represents the modulation width of the predetermined frequency, Tm represents the predetermined modulation period of the frequency, ΔT represents the time from the transmission of the radio wave to its reception by reflection from the object, and ΔF represents the frequency change during ΔT.

[0070] Since ΔT represents the time from the emission of a radio wave to its reception by reflection from an object, ΔT can be expressed based on the distance R between the radar sensor (or vehicle) and the object, and the speed c of the radio wave (light). Specifically, time ΔT can be expressed as [Equation 2].

[0071] [Equation 2] ΔT=2×R / c

[0072] The distance R from the radar sensor (or vehicle) to the object can be expressed as Equation 3 by substituting Equation 2 into Equation 1.

[0073] [Equation 3] R = c × ΔF × Tm / (4 × Fw)

[0074] Here, c represents the speed of radio waves, ΔF represents the frequency change during ΔT, Tm represents the predetermined modulation period of the frequency, and Fw represents the modulation width of the predetermined frequency.

[0075] The processor 141 can obtain the distance R from the first radar sensor 110 to the object based on the detection data obtained from the first radar sensor 110. Specifically, the processor 141 can use the difference ΔF between the frequency of the reflected radio wave 122 received by the receiving antenna module 121 and the frequency of the frequency-modulated continuous wave 112 currently transmitted by the transmitting antenna module 111, and [Equation 3], to obtain the distance R from the first radar sensor 110 to the object.

[0076] In addition, the receiving antenna module 121 may include a plurality of antennas 121a, 121b, 121c and 121d, and each of the plurality of antennas 121a, 121b, 121c and 121d may independently receive reflected radio waves and may provide the controller 140 with information about the frequency of the reflected radio waves 122.

[0077] Therefore, processor 141 can identify the distance between each of the multiple antennas 121a, 121b, 121c, and 121d and the object based on the frequency of the reflected radio waves 122. For example, as Figure 4 As shown, the processor 141 can identify a first distance R1 between the first receiving antenna 121a and the object, a second distance R2 between the second receiving antenna 121b and the object, a third distance R3 between the third receiving antenna 121c and the object, and a fourth distance R4 between the fourth receiving antenna 121d and the object. Furthermore, the processor 141 can identify the relative position of the object with respect to the vehicle 1 based on the first distance R1, the second distance R2, the third distance R3, and the fourth distance R4.

[0078] The processor 141 can identify the relative orientation of an object based on the phase difference between reflected radio waves received by the multiple antennas 121a, 121b, 121c, and 121d. The relative orientation can be expressed as the angle at which the reflected radio waves 122 are received, i.e., the angle of arrival (AOA) relative to the principal direction of the frequency-modulated continuous wave 112 transmitted by the first radar sensor 110.

[0079] The relative direction (or angle of arrival) can be obtained from the small change in distance to the object that causes a phase change in the reflected radio wave 122. For example, the difference between the distance R1 between the first receiving antenna 121a and the object and the distance R2 between the second receiving antenna 121b and the object can cause a phase difference between the reflected radio wave received by the first receiving antenna 121a and the reflected radio wave received by the second receiving antenna 121b.

[0080] The phase difference (ΔΦ) can be expressed as [Equation 4].

[0081] [Equation 4]

[0082] Here, ΔΦ represents the phase difference between the receiving antennas, Δd represents the distance difference from the object to the receiving antenna, and λ represents the wavelength of the radio wave.

[0083] Processor 141 can use the phase difference and distance between receiving antennas to identify the angle of arrival. For example, processor 141 can use [Equation 5] to identify the angle of arrival.

[0084] [Equation 5]

[0085] Here, θ represents the angle of arrival, λ represents the wavelength of the radio wave, ΔΦ represents the phase difference between the receiving antennas, and l represents the distance between the receiving antennas.

[0086] Furthermore, the processor 141 can utilize the Doppler effect to obtain the relative velocity of an object. For example, the frequency of the reflected radio waves 122 can be changed according to the relative velocity of the object.

[0087] To identify the relative velocity of objects, the first radar sensor 110 and the second radar sensor 120 can transmit frequency-modulated continuous waves 112 with different modulation rates. For example, the first radar sensor 110 and the second radar sensor 120 can transmit a first frequency-modulated continuous wave with a first modulation rate Fr1 during a first modulation period Tm1, and can transmit a second frequency-modulated continuous wave with a second modulation rate Fr2 during a second modulation period Tm2.

[0088] The processor 141 can identify frequency variations of reflected radio waves due to the Doppler effect based on the frequencies of radio waves reflected via a first chirp and a second chirp, and can identify the relative velocity of an object based on the frequency variations of reflected radio waves due to the Doppler effect.

[0089] In this way, the processor 141 can identify the relative distance, relative direction (angle of arrival), and relative speed of an object located in the first sensing field 110a (left rear of the vehicle) of the first radar sensor 110 based on the detection data of the first radar sensor 110.

[0090] In the same manner, the processor 141 can identify the relative distance, relative direction (angle of arrival), and relative speed of objects located in the second sensing field 120a (right rear of the vehicle) of the second radar sensor 120 based on the detection data of the second radar sensor 120.

[0091] The memory 142 can store or memorize programs and data used to process detection data from the first radar sensor 110 and the second radar sensor 120 and to control the operation of the driver assistance device 100.

[0092] Memory 142 may include volatile and non-volatile memory. Volatile memory may include static random access memory (S-RAM) and dynamic random access memory (D-RAM), while non-volatile memory may include read-only memory (ROM) and erasable programmable read-only memory (EPROM). Memory 142 may include one memory device or may include multiple memory devices.

[0093] As described above, the controller 140 can obtain information about objects located behind the vehicle 1 through programs and data stored in the memory 142 and operations of the processor 141.

[0094] In addition, the controller 140 can provide the driver with information about the risk of collision between the vehicle 1 and the object behind it, based on information about the object located behind the vehicle 1.

[0095] For example, such as Figure 5As shown, by manipulating the drive mechanism, vehicle 1 can be separated from the parking space. At this time, another vehicle 2 (or a pedestrian, cyclist, or pet, etc.) can pass through the path of vehicle 1. The driver may have difficulty recognizing vehicle 2 because of the vehicle parked next to vehicle 1.

[0096] The controller 140 can provide the driver with information about the risk of a collision between the vehicle 1 and an object behind it, based on information about an object located behind the vehicle 1. For example, the controller 140 can control the instrument cluster 10 to display a warning message, or can send a message to the instrument cluster 10. The controller 140 can control the exterior rearview mirror indicator 20 to emit light. The controller 140 can control the multimedia device 30 to display a warning image or output a warning sound, or control the power steering device 40 to generate vibrations in the steering wheel.

[0097] In this situation, when a large vehicle (e.g., a truck or bus) is parked next to vehicle 1, controller 140 may mistakenly detect another vehicle 2.

[0098] For example, such as Figure 6 As shown, another vehicle 2 may be located in the first sensing field 110a of the first radar sensor 110. The first radar sensor 110 may provide detection data to the controller 140 for detecting the other vehicle 2.

[0099] At this time, only the parked vehicle 3 can be located within the second sensing field 120a of the second radar sensor 120. However, the second radar sensor 120 may mistakenly detect another vehicle 2 as being within the second sensing field 120a. Frequency-modulated continuous waves emitted from the second radar sensor 120 can reach the other vehicle 2 while it is in motion. Furthermore, the frequency-modulated continuous waves reaching the other vehicle 2 can be reflected by the other vehicle 2, and the reflected radio waves can be received by the second radar sensor 120 after being reflected by the parked vehicle 3.

[0100] In this way, the second radar sensor 120 can receive reflected signals from the parked vehicle 3, and detection data corresponding to reflected radio waves successively reflected from the other vehicle 2 and the parked vehicle 3 can be provided to the controller 140.

[0101] The controller 140 may erroneously detect a virtual vehicle traveling in the opposite direction to another vehicle 2 within the second sensing field 120a of the second radar sensor 120.

[0102] Incorrect detection could confuse the driver and could lead to a collision between vehicle 1 and another vehicle 2.

[0103] The controller 140 can prevent false detections due to the reflection of radio waves.

[0104] The controller 140 can identify, for example, based on the detection data from the first radar sensor 110 and the second radar sensor 120. Figure 7 The diagram shows multiple detection points 200 and multiple trajectories 210 and 220. The multiple detection points 200 can indicate the location of the detection data, especially those locations that reflect radio waves (which can be existing objects or non-existent detection errors).

[0105] The controller 140 can generate trajectories 210 and 220 based on multiple detection points 200. For example, when multiple detection points 200 are concentrated to form a specific shape (e.g., the shape of a vehicle), the controller 140 can generate trajectories 210 and 220 from them.

[0106] like Figure 7 As shown, controller 140 can generate with Figure 6 The first trajectory 210 corresponding to the other vehicle 2 shown, and the second trajectory 220 which was erroneously detected due to the reflection of radio waves.

[0107] The first trajectory 210 corresponding to another vehicle 2 and the second trajectory 220 that is erroneously detected by the reflection of radio waves can have a specific relationship.

[0108] For example, the position of the second track 220 may be approximately symmetrical to the position of the first track 210 around the vehicle 1 (more precisely, around the imaginary straight line indicating the direction of travel of the vehicle). The first track 210 and the second track 220 may be located on the same line orthogonal to the direction of travel of the vehicle 1.

[0109] Furthermore, the movement of the second trajectory 220 can be approximately symmetrical to the movement of the first trajectory 210 around the vehicle 1 (more precisely, around a hypothetical straight line indicating the vehicle's direction of travel). The relative velocity of the second trajectory 220 can be approximately the same as the relative velocity of the first trajectory 210.

[0110] In order to identify whether either the first trajectory 210 or the second trajectory 220 is a trajectory that was mistakenly detected by the reflection of radio waves, the controller 140 can identify whether the first trajectory 210 and the second trajectory 220 are located on the same line orthogonal to the direction of travel of the vehicle 1.

[0111] The controller 140 can identify the longitudinal distance from vehicle 1 to the first trajectory 210 (the shortest distance from the vehicle to a virtual straight line perpendicular to the vehicle's direction of travel and passing through the first trajectory).

[0112] like Figure 8As shown, the controller 140 can determine the longitudinal distance D3 from the vehicle 1 to the first trajectory 210 using the shortest distance D1 from the vehicle 1 to the first trajectory 210, the angle Θ1 between the driving direction of the vehicle 1 and the relative direction of the first trajectory 210, and [Equation 6].

[0113] [Equation 6] D3=D1×cosΘ1

[0114] Here, D3 represents the longitudinal distance from vehicle 1 to the first trajectory 210, D1 represents the shortest distance from vehicle 1 to the first trajectory 210, and Θ1 represents the angle between the driving direction of vehicle 1 and the relative direction of the first trajectory 210.

[0115] In the same manner, the controller 140 can use the shortest distance D2 from vehicle 1 to the second track 220, the angle Θ2 between the driving direction of vehicle 1 and the relative direction of the second track 220, and [Equation 6] to determine the longitudinal distance D4 from vehicle 1 to the second track 220.

[0116] The controller 140 can identify whether the difference between the longitudinal distance D3 of the first trajectory 210 and the longitudinal distance D4 to the second trajectory 220 is within the error range (e.g., half the width of the first trajectory or half the width of the second trajectory).

[0117] When the difference between the longitudinal distance D3 to the first trajectory 210 and the longitudinal distance D4 to the second trajectory 220 is within the error range, the controller 140 can determine that the first trajectory 210 and the second trajectory 220 are located on the same line perpendicular to the driving direction of the vehicle 1.

[0118] In order to identify whether either the first trajectory 210 or the second trajectory 220 is a trajectory that is erroneously detected by the reflection of radio waves, the controller 140 may identify whether the moving speed V1 of the first trajectory 210 is approximately equal to the moving speed V2 of the second trajectory 220.

[0119] The controller 140 can identify the lateral distance from vehicle 1 to the first trajectory 210 (the shortest distance from the vehicle to a virtual straight line parallel to the vehicle's direction of travel and passing through the first trajectory).

[0120] like Figure 8 As shown, the controller 140 can determine the lateral distance D5 from vehicle 1 to the first trajectory 210 using the shortest distance D1 from vehicle 1 to the first trajectory 210, the angle Θ1 between the driving direction of vehicle 1 and the relative direction of the first trajectory 210, and [Equation 7].

[0121] [Equation 7] D5=D1×sinΘ1

[0122] Here, D5 represents the lateral distance from vehicle 1 to the first track 210, D1 represents the shortest distance from vehicle 1 to the first track 210, and Θ1 represents the angle between the driving direction of vehicle 1 and the relative direction of the first track 210.

[0123] The controller 140 can determine the lateral movement speed V1 of the first trajectory 210 based on the change in the lateral distance to the first trajectory 210 over time.

[0124] Similarly, controller 140 can determine the lateral distance D6 from vehicle 1 to the second trajectory 220 using the shortest distance D2 from vehicle 1 to the second trajectory 220, the angle Θ2 between the travel direction of vehicle 1 and the relative direction of the second trajectory 220, and [Equation 6]. Furthermore, controller 140 can determine the lateral movement speed V2 of the second trajectory 220 based on the change in the lateral distance to the second trajectory 220 over time.

[0125] The controller 140 can identify whether the difference between the lateral movement speed V1 of the first trajectory 210 and the lateral movement speed V2 of the second trajectory 220 is within the error range.

[0126] When the difference between the lateral movement speed V1 to the first trajectory 210 and the lateral movement speed V2 to the second trajectory 220 is within the error range, the controller 140 can determine that the movement speed V1 of the first trajectory 210 is approximately equal to the movement speed V2 of the second trajectory 220.

[0127] When the first trajectory 210 and the second trajectory 220 are located on the same line perpendicular to the direction of travel of the vehicle 1, and the moving speed V1 of the first trajectory 210 is approximately the same as the moving speed V2 of the second trajectory 220, the controller 140 can determine that either the first trajectory 210 or the second trajectory 220 is a trajectory that was erroneously detected by the reflection of radio waves.

[0128] The controller 140 can identify which of the first trajectory 210 and the second trajectory 220 corresponds to the missing other vehicle 2 based on a comparison between the number of detection points constituting the first trajectory 210 and the number of detection points constituting the second trajectory 220.

[0129] like Figure 7 As shown, a large number of detection points were detected in and around another vehicle 2.

[0130] Therefore, the controller 140 can determine a trajectory with a large number of detection points as the trajectory of another vehicle 2, and can determine a trajectory with a small number of detection points as an incorrectly detected trajectory. For example, when the number of detection points constituting the first trajectory 210 is greater than the number of detection points constituting the second trajectory 220, the controller 140 can determine the second trajectory 220 as an incorrectly detected trajectory.

[0131] The controller 140 can ignore erroneously detected trajectories and warn the driver of the presence of a rear object and the risk of collision based on the position of the trajectory corresponding to that of another vehicle 2.

[0132] Figure 9 This is a schematic diagram illustrating the operation of a driver assistance device according to an embodiment.

[0133] refer to Figure 9 The operation 1000 of the driver assistance device 100 will be described.

[0134] The driver assistance device 100 can generate a first trajectory 210 and a second trajectory 220 (1010) based on the detection data of the first radar sensor 110 and the second radar sensor 120.

[0135] The controller 140 of the driver assistance device 100 can generate detection points based on detection data received from the first radar sensor 110, and generate a first trajectory 210 based on the detection points. Furthermore, the controller 140 can generate detection points based on detection data received from the second radar sensor 120, and generate a second trajectory 220 based on the detection points.

[0136] The driver assistance device 100 can identify whether the first trajectory 210 and the second trajectory 220 are located on the same line (1020) perpendicular to the driving direction of the vehicle 1.

[0137] The controller 140 can determine the longitudinal distance from vehicle 1 to the first trajectory 210 based on the shortest distance between vehicle 1 and the first trajectory 210 and the angle between the driving direction of vehicle 1 and the relative direction of the first trajectory 210.

[0138] The controller 140 can determine the longitudinal distance from vehicle 1 to the second trajectory 220 based on the shortest distance between vehicle 1 and the second trajectory 220 and the angle between the driving direction of vehicle 1 and the relative direction of the second trajectory 220.

[0139] Furthermore, when the difference between the longitudinal distance to the first trajectory 210 and the longitudinal distance to the second trajectory 220 is within the error range, the controller 140 can identify that the first trajectory 210 and the second trajectory 220 are located on the same line perpendicular to the driving direction of the vehicle 1.

[0140] When the first trajectory 210 and the second trajectory 220 are not located on the same line perpendicular to the direction of travel of the vehicle 1 (No in 1020), the driver assistance device 100 may warn of a collision between the direction in which the first trajectory 210 is located and the direction in which the second trajectory 220 is located (1025).

[0141] When the first trajectory 210 and the second trajectory 220 are not located on the same line perpendicular to the driving direction of vehicle 1, the controller 140 can determine that both the first trajectory 210 and the second trajectory 220 represent another vehicle.

[0142] Therefore, the controller 140 can send a message to at least one of the combination instrument panel 10, the exterior rearview mirror indicator 20, the multimedia device 30, and the power steering device 40 to warn of a collision between the direction in which the first trajectory 210 is located and the direction in which the second trajectory 220 is located.

[0143] When the first trajectory 210 and the second trajectory 220 are on the same line perpendicular to the direction of travel of the vehicle 1 (in 1020), the driver assistance device 100 can identify whether the moving speed of the first trajectory 210 is approximately equal to the moving speed of the second trajectory 220 (1030).

[0144] The controller 140 can determine the lateral distance from vehicle 1 to the first trajectory 210 based on the shortest distance between vehicle 1 and the first trajectory 210 and the angle between the travel direction of vehicle 1 and the relative direction of the first trajectory 210. The controller 140 can determine the moving speed of the first trajectory 210 based on the change in the lateral distance to the first trajectory 210.

[0145] The controller 140 can determine the lateral distance from vehicle 1 to the second trajectory 220 based on the shortest distance between vehicle 1 and the second trajectory 220 and the angle between the travel direction of vehicle 1 and the relative direction of the second trajectory 220. The controller 140 can determine the moving speed of the second trajectory 220 based on the change in the lateral distance to the second trajectory 220.

[0146] Furthermore, when the difference between the moving speed of the first trajectory 210 and the moving speed of the second trajectory 220 is within the error range, the controller 140 can identify that the moving speed of the first trajectory 210 and the moving speed of the second trajectory 220 are approximately the same.

[0147] When the speed of movement of the first track 210 is not approximately the same as the speed of movement of the second track 220 (No in 1030), the driver assistance device 100 may warn of a collision between the direction in which the first track 210 is located and the direction in which the second track 220 is located (1025).

[0148] When the moving speed of the first trajectory 210 is approximately the same as the moving speed of the second trajectory 220 (Yes in 1030), the driver assistance device 100 can identify whether the number of detection points associated with the first trajectory 210 is greater than the number of detection points associated with the second trajectory 220 (1040).

[0149] When the first trajectory 210 and the second trajectory 220 are located on the same line perpendicular to the direction of travel of the vehicle 1, and the moving speed of the first trajectory 210 is approximately the same as the moving speed of the second trajectory 220, the controller 140 can identify that either the first trajectory 210 or the second trajectory 220 is erroneously detected by the reflection of radio waves.

[0150] The controller 140 can compare the number of detection points associated with the first trajectory 210 with the number of detection points associated with the second trajectory 220 to identify which of the first trajectory 210 and the second trajectory 220 was incorrectly detected.

[0151] When the number of detection points associated with the first trajectory 210 is greater than the number of detection points associated with the second trajectory 220 (Yes in 1040), the driver assistance device 100 may warn of a collision in the direction in which the first trajectory 210 is located (1050).

[0152] When the number of detection points associated with the first trajectory 210 is greater than the number of detection points associated with the second trajectory 220, the controller 140 may correspond to another vehicle 2 that lacks the first trajectory 210, and the second trajectory 220 may be determined to be a false detection due to the reflection of radio waves.

[0153] Therefore, the controller 140 can send a message to at least one of the combination instrument panel 10, the exterior rearview mirror indicator 20, the multimedia device 30, and the power steering device 40 to warn of a collision in the direction in which the first trajectory 210 is located.

[0154] When the number of detection points associated with the first trajectory 210 is not greater than the number of detection points associated with the second trajectory 220 (No in 1040), the driver assistance device 100 may warn of a collision in the direction in which the second trajectory 220 is located (1060).

[0155] When the number of detection points associated with the second trajectory 220 is greater than the number of detection points associated with the first trajectory 210, the controller 140 may correspond to another vehicle 2 that lacks the first trajectory 210, and the second trajectory 220 may be determined to be a false detection due to the reflection of radio waves.

[0156] Therefore, the controller 140 can send a message to at least one of the combination instrument panel 10, the exterior rearview mirror indicator 20, the multimedia device 30, and the power steering device 40 to warn of a collision in the direction in which the second trajectory 220 is located.

[0157] As described above, the driver assistance device 100 can identify a trajectory that is mistakenly detected by the reflection of radio waves based on the position and movement of the trajectory, and can avoid generating a collision warning for the mistakenly detected trajectory.

[0158] According to embodiments of the present invention, a driver assistance device, a vehicle having the device, and a method for controlling the vehicle can be provided, wherein the driver assistance device is capable of assisting the driver when the vehicle leaves a parking space.

[0159] According to embodiments of the present invention, a driver assistance device, a vehicle having the device, and a method for controlling the vehicle can be provided, wherein the driver assistance device is capable of preventing a rear-end collision when the vehicle leaves a parking space.

[0160] According to one aspect of the disclosed invention, a driver assistance device, a vehicle and a control method thereof, a vehicle having the device and a method for controlling the vehicle may be provided, wherein the driver assistance device, the vehicle and the control method thereof are capable of preventing false warnings of rear-end collisions when the vehicle leaves a parking space.

[0161] Exemplary embodiments of the present invention have been described above. In the above exemplary embodiments, some components may be implemented as "modules". Here, the term "module" refers to, but is not limited to, software and / or hardware components that perform certain tasks, such as field-programmable gate arrays (FPGAs) or application-specific integrated circuits (ASICs). Modules may advantageously be configured to reside in an addressable memory medium and configured to execute on one or more processors.

[0162] Therefore, as an example, a module can include components such as software components, object-oriented software components, class components and task components, procedures, functions, attributes, procedures, subroutines, program code segments, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The operations provided in components and modules can be combined into fewer components and modules, or further separated into additional components and modules. Furthermore, components and modules can be implemented such that they execute one or more CPUs within a device.

[0163] Nevertheless, and in addition to the exemplary embodiments described above, the embodiments can therefore be implemented by computer-readable code / instructions in / on a medium (e.g., a computer-readable medium) to control at least one processing element to implement any of the exemplary embodiments described above. This medium can correspond to any medium that allows storage and / or transmission of computer-readable code.

[0164] Computer-readable code can be recorded on a medium or transmitted over the Internet. The medium may include: read-only memory (ROM), random access memory (RAM), optical disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical recording media. Furthermore, the medium may be a non-volatile computer-readable medium. The medium may also be a distributed network, thereby storing or transmitting and executing computer-readable code in a distributed manner. Furthermore, by way of example only, the processing element may include at least one processor or at least one computer processor, and the processing element may be distributed and / or included in a single device.

[0165] Although exemplary embodiments have been described with reference to a limited number of implementations, those skilled in the art who will benefit from the invention will understand that other embodiments can be devised without departing from the scope of this disclosure. Therefore, the scope should be limited only by the appended claims.

Claims

1. A driver assistance device, comprising: A first radar sensor, which is mounted on the vehicle and obtains a field of view to the left rear of the vehicle, is configured to output first detection data. A second radar sensor, which is mounted on the vehicle and obtains a field of view to the right rear of the vehicle, is configured to output second detection data. as well as The controller is configured as follows: Process the first and second test data; Multiple detection points are generated based on the processing of the first and second detection data; A first trajectory and a second trajectory are generated based on multiple detection points, wherein the first trajectory and the second trajectory correspond to a first object outside the vehicle. Identify normally detected trajectories and erroneously detected trajectories from the first and second trajectories, wherein normally detected trajectories correspond to the trajectory of a first object outside the vehicle, while erroneously detected trajectories correspond to radio waves being reflected once or more by a second object outside the vehicle. Warning: Collision occurring in the direction of a normally detected trajectory.

2. The driver assistance device according to claim 1, wherein, The controller is further configured as follows: The longitudinal distance of the first trajectory is identified based on the distance between the first trajectory and the vehicle, and the angle between the vehicle's driving direction and the direction in which the first trajectory is located. The longitudinal distance of the second trajectory is identified based on the distance between the second trajectory and the vehicle, as well as the angle between the vehicle's direction of travel and the direction in which the second trajectory is located.

3. The driver assistance device according to claim 2, wherein, The controller is further configured to identify at least one of the first and second trajectories as an incorrectly detected trajectory based on the difference between the longitudinal distance of the first trajectory and the longitudinal distance of the second trajectory being within an error range.

4. The driver assistance device according to claim 3, wherein, The controller is further configured to warn of a collision in the direction of the first trajectory based on the fact that the number of detection points associated with the first trajectory is greater than the number of detection points associated with the second trajectory.

5. The driver assistance device according to claim 1, wherein, The controller is further configured as follows: The lateral movement speed of the first trajectory is identified based on the distance between the first trajectory and the vehicle, and the angle between the vehicle's direction of travel and the direction in which the first trajectory is located. The lateral movement speed of the second trajectory is identified based on the distance between the second trajectory and the vehicle, as well as the angle between the vehicle's direction of travel and the direction in which the second trajectory is located.

6. The driver assistance device according to claim 5, wherein, The controller is configured to identify at least one of the first and second trajectories as an incorrectly detected trajectory based on the difference between the lateral movement speed of the first trajectory and the lateral movement speed of the second trajectory being within an error range.

7. The driver assistance device according to claim 6, wherein, The controller is configured to warn of a collision in the direction of the first trajectory based on the fact that the number of detection points associated with the first trajectory is greater than the number of detection points associated with the second trajectory.

8. A vehicle comprising: Combined dashboard; Exterior rearview mirror indicator; as well as A driver assistance device configured to control a combination instrument panel and exterior rearview mirror indicators, wherein the driver assistance device includes: A first radar sensor, which is mounted on the vehicle and obtains a field of view to the left rear of the vehicle, is configured to output first detection data. A second radar sensor, mounted on the vehicle and acquiring a field of view to the right rear of the vehicle, is configured to output second detection data; and The controller is configured as follows: Process the first and second test data; Multiple detection points are generated based on the processing of the first and second detection data; A first trajectory and a second trajectory are generated based on multiple detection points, wherein the first trajectory and the second trajectory correspond to a first object outside the vehicle. Identify normally detected trajectories and erroneously detected trajectories from the first and second trajectories, wherein normally detected trajectories correspond to the trajectory of a first object outside the vehicle, while erroneously detected trajectories correspond to radio waves being reflected once or more by a second object outside the vehicle. Control at least one of the instrument cluster and exterior rearview mirror indicators to warn of a collision in the direction of a normally detected trajectory.

9. The vehicle according to claim 8, wherein, The controller is further configured as follows: The longitudinal distance of the first trajectory is identified based on the distance between the first trajectory and the vehicle, and the angle between the vehicle's direction of travel and the direction in which the first trajectory is located. The longitudinal distance of the second trajectory is identified based on the distance between the second trajectory and the vehicle, as well as the angle between the vehicle's direction of travel and the direction in which the second trajectory is located.

10. The vehicle according to claim 9, wherein, The controller is further configured to identify at least one of the first and second trajectories as an incorrectly detected trajectory based on the difference between the longitudinal distance of the first trajectory and the longitudinal distance of the second trajectory being within an error range.

11. The vehicle according to claim 10, wherein, The controller is further configured to control at least one of the combined instrument panel and the exterior rearview mirror indicator to warn of a collision in the direction in which the first trajectory is located, based on the fact that the number of detection points associated with the first trajectory is greater than the number of detection points associated with the second trajectory.

12. The vehicle according to claim 8, wherein, The controller is further configured as follows: The lateral movement speed of the first trajectory is identified based on the distance between the first trajectory and the vehicle, and the angle between the vehicle's direction of travel and the direction in which the first trajectory is located. The lateral movement speed of the second trajectory is identified based on the distance between the second trajectory and the vehicle, as well as the angle between the vehicle's direction of travel and the direction in which the second trajectory is located.

13. The vehicle according to claim 12, wherein, The controller is further configured to identify at least one of the first and second trajectories as an incorrectly detected trajectory based on the difference between the lateral movement speed of the first trajectory and the lateral movement speed of the second trajectory being within an error range.

14. The vehicle according to claim 13, wherein, The controller is further configured to control at least one of the combined instrument panel and the exterior rearview mirror indicator to warn of a collision in the direction in which the first trajectory is located, based on the fact that the number of detection points associated with the first trajectory is greater than the number of detection points associated with the second trajectory.

15. A method for controlling a vehicle, the method comprising: First detection data is received from a first radar sensor installed on the vehicle and providing a view of the left rear of the vehicle's exterior. The second detection data is received from a second radar sensor installed on the vehicle and which provides a view of the right rear of the vehicle. Process the first and second test data; Multiple detection points are generated based on the processing of the first and second detection data; A first trajectory and a second trajectory are generated based on multiple detection points, wherein the first trajectory and the second trajectory correspond to a first object outside the vehicle. Identify normally detected trajectories and erroneously detected trajectories from the first and second trajectories, wherein normally detected trajectories correspond to the trajectory of a first object outside the vehicle, while erroneously detected trajectories correspond to radio waves being reflected once or more by a second object outside the vehicle. Warning: Collision occurring in the direction of a normally detected trajectory.

16. The method according to claim 15, wherein, Identifying normally detected trajectories and erroneously detected trajectories includes: The longitudinal distance of the first trajectory is identified based on the distance between the first trajectory and the vehicle, and the angle between the vehicle's driving direction and the direction in which the first trajectory is located. The longitudinal distance of the second trajectory is identified based on the distance between the second trajectory and the vehicle, as well as the angle between the vehicle's direction of travel and the direction in which the second trajectory is located.

17. The method according to claim 16, wherein, Identifying normally detected trajectories and erroneously detected trajectories in the first and second trajectories includes: identifying at least one of the first and second trajectories as an erroneously detected trajectory based on the difference between the longitudinal distance of the first trajectory and the longitudinal distance of the second trajectory being within an error range.

18. The method according to claim 15, wherein, The identification of normally detected trajectories and erroneously detected trajectories in the first and second trajectories includes: The lateral movement speed of the first trajectory is identified based on the distance between the first trajectory and the vehicle, and the angle between the vehicle's direction of travel and the direction in which the first trajectory is located. The lateral movement speed of the second trajectory is identified based on the distance between the second trajectory and the vehicle, as well as the angle between the vehicle's direction of travel and the direction in which the second trajectory is located.

19. The method according to claim 18, wherein, Identifying normally detected trajectories and erroneously detected trajectories in the first and second trajectories includes: identifying at least one of the first and second trajectories as an erroneously detected trajectory based on the difference between the lateral movement speed of the first trajectory and the lateral movement speed of the second trajectory being within an error range.

20. The method of claim 15, wherein, Warnings about collisions in the direction of a normally detected trajectory include: warning about collisions in the direction of the first trajectory based on the fact that the number of detection points associated with the first trajectory is greater than the number of detection points associated with the second trajectory.

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