Driver assistance device and driver assistance method

Abstract

The present invention provides a driver assistance device and a driver assistance method. The driver assistance device includes: a camera, which is installed on a vehicle and has a front field of view of the vehicle and obtains image data; and a control unit, which includes a processor for processing the image data, the control unit calculates a target heading angle and a target lateral displacement of the vehicle based on a predetermined yaw rate mode, and when the driver operates a steering device to perform a steering operation to avoid a conflict with the vehicle, the steering device is controlled based on at least one of the image data, the target heading angle, and the target lateral displacement to assist in performing a steering operation to avoid a conflict with the vehicle.

Description

Technical Field

[0001] The disclosed invention relates to a driver assistance device and a driver assistance method, and more particularly, to a driver assistance device and a driver assistance method capable of avoiding a collision with an object. Background Art

[0002] In recent years, in order to reduce the burden on drivers and improve convenience, active research has been conducted on vehicles equipped with advanced driver assistance systems (ADAS) that actively provide information on vehicle conditions, driver conditions, and surrounding environments.

[0003] The high-end driver assistance device installed in the vehicle determines the risk of collision with an object during the driving of the vehicle, and provides collision avoidance prompts and / or warnings when a collision is about to occur.

[0004] For example, high-end driver assistance devices include a collision avoidance system (CAS), an autonomous emergency brake system (AEB), a driver attention warning system (DAW), and the like.

[0005] Among high-end driver assistance devices, in the case of collision avoidance systems, driver avoidance steering assistance systems have been developed that assist steering when there is a risk of collision with another vehicle so as to avoid the collision with the other vehicle through the driver's operation.

[0006] When the driver avoids the steering assist system, the steering assist system acts according to the driver's avoidance intention, provides a steering torque (or assist torque) to assist the torque generated based on the driver's operation, or lightens the handlebars to control the steering of the vehicle.

[0007] However, unconditional engagement of the assist torque or an inappropriate amount of the assist torque may hinder the driver's operation for avoiding the conflict.

[0008] When a vehicle is traveling to avoid a conflict based on the driver's operation, the assist torque may hinder the vehicle from traveling to avoid the conflict, depending on the situation, because there are various variables such as the vehicle's avoidance direction, the required amount of avoidance steering, the driver's intervention timing of avoidance steering, and the driver's driving style.

[0009] For example, the assist torque may cause the vehicle to steer more than the driver intended, thereby posing a risk of the vehicle leaving the lane. As another example, the assist torque may cause the vehicle to steer more than the driver intended, thereby posing a risk of the vehicle colliding with other vehicles. Summary of the invention

[0010] Problems to be solved by the invention

[0011] In view of this, one aspect of the disclosed invention provides a driver assistance device and a driver assistance method that adjust the interference and control amount of the assist torque based on the driver's operation according to the situation, thereby stably avoiding the conflict between the vehicle and any object.

[0012] Means for solving problems

[0013] According to one aspect of the disclosed invention, a driver assistance device includes: a camera, which is installed on a vehicle, has a forward field of view of the vehicle, and obtains image data; and a control unit, which includes a processor for processing the image data, wherein the control unit calculates a target heading angle and a target lateral displacement of the vehicle based on a predetermined yaw rate pattern, and when the driver operates a steering device for steering to avoid a conflict with the vehicle, the steering device is controlled based on at least one of the image data, the target heading angle, and the target lateral displacement to assist in steering to avoid a conflict with the vehicle.

[0014] The control unit controls the steering device to assist in steering for avoiding a collision with the vehicle so that the vehicle does not deviate from a target lane.

[0015] The control unit predicts a conflict between the vehicle and the at least one object based on the image data, identifies a predicted heading angle and a predicted lateral displacement of the vehicle based on the conflict prediction, and controls the steering device based on the target heading angle, the target lateral displacement, the predicted heading angle and the predicted lateral displacement to assist in steering to avoid the conflict of the vehicle.

[0016] The control unit calculates the steering torque of the steering device based on the target heading angle, the difference between the target heading angle and the predicted heading angle, the target lateral displacement and the difference between the target lateral displacement and the predicted lateral displacement, and assists in steering to avoid the conflict of the vehicles based on the control of the steering device according to the steering torque.

[0017] The control unit calculates a target lateral acceleration and a target lateral velocity of the vehicle based on the predetermined yaw rate pattern and the speed of the vehicle, and calculates the target heading angle and the target lateral displacement based on the target lateral acceleration and the target lateral velocity.

[0018] The predetermined yaw rate pattern corresponds to a target travel trajectory of the vehicle that causes the vehicle to be spaced apart from a first object by a predetermined distance when the vehicle is turned to avoid a collision with the first object.

[0019] According to one aspect of the disclosed invention, a driver assistance method includes the following steps: calculating a target heading angle and a target lateral displacement of the vehicle based on a predetermined yaw rate pattern, and when the driver operates a steering device for steering to avoid a conflict with the above-mentioned vehicle, controlling the steering device based on image data obtained by a camera, the target heading angle and at least one of the target lateral displacement to assist in steering to avoid a conflict with the above-mentioned vehicle.

[0020] The step of controlling the steering device to assist in steering to avoid the conflict of the vehicle includes: controlling the vehicle not to leave the target lane.

[0021] The step of controlling the steering device to assist in steering to avoid the conflict of the vehicle includes: predicting the conflict between the vehicle and the at least one object based on the image data, identifying the predicted heading angle and predicted lateral displacement of the vehicle based on the conflict prediction, and controlling the steering device based on the target heading angle, the target lateral displacement, the predicted heading angle and the predicted lateral displacement to assist in steering to avoid the conflict of the vehicle.

[0022] The step of controlling the steering device to assist in steering for avoiding the conflict of the vehicles includes: calculating the steering torque of the steering device based on the target heading angle, the difference between the target heading angle and the predicted heading angle, the target lateral displacement and the difference between the target lateral displacement and the predicted lateral displacement; and assisting in steering for avoiding the conflict of the vehicles based on controlling the steering device according to the steering torque.

[0023] The step of calculating the target heading angle and the target lateral displacement includes: calculating the target lateral acceleration and the target lateral velocity of the vehicle based on the predetermined yaw rate pattern and the speed of the vehicle, and calculating the target heading angle and the target lateral displacement based on the target lateral acceleration and the target lateral velocity.

[0024] The predetermined yaw rate pattern corresponds to a target travel trajectory of the vehicle that causes the vehicle to be spaced apart from a first object by a predetermined distance when the vehicle is turned to avoid a collision with the first object.

[0025] According to one aspect of the disclosed invention, a driver assistance device includes: a camera, which is installed in a vehicle, has a forward field of view of the above-mentioned vehicle, and obtains image data; and a control unit, which includes a processor for processing the above-mentioned image data, the above-mentioned control unit predicts a conflict between the above-mentioned vehicle and at least one object based on the above-mentioned image data, the above-mentioned control unit calculates a target heading angle and a target lateral displacement of the above-mentioned vehicle based on the prediction of the conflict between the above-mentioned vehicle and the above-mentioned at least one object and a predetermined yaw angular velocity pattern, and when the driver operates a steering device for steering to avoid the conflict of the above-mentioned vehicle, the above-mentioned steering device is controlled based on at least one of the above-mentioned target heading angle and the above-mentioned target lateral displacement to assist in steering to avoid the conflict of the above-mentioned vehicle.

[0026] The control unit recognizes whether the driver operates a steering device for steering the vehicle to avoid the collision in response to a predicted collision between the vehicle and the at least one object.

[0027] The control unit controls the steering device to assist in steering for avoiding a collision with the vehicle so that the vehicle does not deviate from a target lane.

[0028] The control unit predicts a conflict between the vehicle and the at least one object based on the image data, identifies a predicted heading angle and a predicted lateral displacement of the vehicle based on the conflict prediction, and controls the steering device based on the target heading angle, the target lateral displacement, the predicted heading angle and the predicted lateral displacement to assist in steering to avoid the conflict of the vehicle.

[0029] The control unit calculates the steering torque of the steering device based on the target heading angle, the difference between the target heading angle and the predicted heading angle, the target lateral displacement and the difference between the target lateral displacement and the predicted lateral displacement, and assists in steering to avoid the conflict of the vehicles based on the control of the steering device according to the steering torque.

[0030] The control unit calculates a target lateral acceleration and a target lateral velocity of the vehicle based on the predetermined yaw rate pattern and the speed of the vehicle, and calculates the target heading angle and the target lateral displacement based on the target lateral acceleration and the target lateral velocity.

[0031] Effects of the Invention

[0032] According to one aspect of the disclosed invention, it is possible to provide a driver assistance device and a driver assistance method that can stably avoid a conflict between a vehicle and an arbitrary object by adjusting the interference and control amount of the assist torque based on the driver's operation according to the situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The structure of a vehicle according to one embodiment is shown.

[0034] Figure 2 1 shows the field of view of a camera and a radar included in a driver assistance device of one embodiment.

[0035] Figure 3a and Figure 3b The following is a diagram for explaining the behavior of a vehicle using a conventional driver avoidance steering assist system.

[0036] Figure 4 is a diagram showing a predetermined yaw rate pattern according to one embodiment.

[0037] Figure 5 This is a diagram for explaining a collision avoidance design of a vehicle according to an embodiment.

[0038] Figure 6 The diagram is a graph showing a predetermined yaw rate pattern according to an embodiment and a target heading angle function and a target lateral displacement function corresponding to the yaw rate pattern.

[0039] Figure 7 This is a diagram for explaining the operation of controlling a steering device in a manner to assist steering for avoiding a collision of vehicles according to one embodiment.

[0040] Figure 8 The present invention is a flowchart of the operation of the driver assistance device according to an embodiment.

[0041] Fig. 9 A diagram for explaining a collision avoidance operation of a vehicle under control of a driver assistance device according to an embodiment.

[0042] Fig.10 The graphs show a target trajectory of a vehicle and an expected trajectory of the vehicle according to an embodiment.

[0043] Fig.11 This is a diagram for explaining a collision avoidance operation of the vehicle 1 performed under the control of the driver assistance device according to one embodiment.

[0044] Fig.12 The graphs show a target trajectory of a vehicle and an expected trajectory of the vehicle according to an embodiment.

[0045] Fig.13 The present invention is a flowchart of the operation of the driver assistance device according to an embodiment. DETAILED DESCRIPTION

[0046] Throughout the specification, the same symbols represent the same constituent elements. This specification does not describe all the elements of the embodiments, and omits general content in the technical field to which the disclosed invention belongs or content repeated between embodiments. Terms such as "part, module, component, block" used in the specification can be embodied as software or hardware. Depending on the embodiment, multiple "parts, modules, components, blocks" can be embodied as one constituent element or one "part, module, component, block" can include multiple constituent elements.

[0047] Throughout the specification, when it is described that a certain part is “connected” to another part, it includes not only a direct connection but also an indirect connection. The indirect connection includes a connection through a wireless communication network.

[0048] Furthermore, when a certain part is described as “including” a certain constituent element, unless there is a particular description to the contrary, other constituent elements are not excluded and other constituent elements may be included.

[0049] Throughout the specification, when a certain component is described as being “on” another component, this includes not only a case where the certain component is in contact with the other component, but also a case where the other component exists between the two components.

[0050] The terms "first", "second", etc. are used to distinguish one constituent element from other constituent elements, and the above terms do not limit the constituent elements.

[0051] Unless otherwise expressly specified in the context, expressions in the singular include expressions in the plural.

[0052] In each step, the identification code is used for the convenience of explanation, and the identification code does not indicate the order of each step. If a specific order is not clearly stated in the text, each step can be implemented in an order different from the marked order.

[0053] Hereinafter, the working principle and embodiments of the disclosed invention will be described with reference to the accompanying drawings.

[0054] Figure 1 The structure of a vehicle according to one embodiment is shown.

[0055] like Figure 1As shown, the vehicle 1 includes a driving device 20, a braking device 30, a steering device 40 and a driver assistance device 100. They can communicate with each other through the vehicle communication network NT. For example, the electronic devices 10, 20, 30, 40, 50, 60, 100 included in the vehicle 1 send and receive data through Ethernet, Media Oriented Systems Transport (MOST), Flexray, Controller Area Network (CAN), Local Interconnect Network (LIN), etc.

[0056] The drive device 20 moves the vehicle 1 and includes, for example, an engine, an engine management system (EMS), a transmission, and a transmission control unit (TCU).

[0057] The engine generates power for driving the vehicle 1 , and the engine management system controls the engine in response to the driver's acceleration intention via the accelerator pedal or a request from the driver assistance device 100 .

[0058] The transmission decelerates and transmits the power generated by the engine to the wheels, and the transmission control unit controls the transmission in response to a driver's shift command executed through a shift lever and / or a request of the driver assistance device 100 .

[0059] The brake device 30 stops the vehicle 1 and includes, for example, a brake caliper and a brake control module (EBCM).

[0060] The brake caliper decelerates or stops the vehicle 1 by friction with the brake disc, and the electronic brake control module controls the brake caliper in response to the driver's braking intention through the brake pedal and / or a request from the driver assistance device 100 .

[0061] For example, the electronic brake control module receives a deceleration request including a deceleration rate from the driver assistance device 100 , and controls the brake caliper electrically or by hydraulic pressure according to the requested deceleration rate to decelerate the vehicle 1 .

[0062] The steering device 40 includes an Electronic Power Steering Control Module (EPS).

[0063] The steering device 40 can change the driving direction of the vehicle 1. The electronic steering control module responds to the driver's steering intention realized through the steering wheel and assists the action of the steering device 40 so that the driver can easily operate the steering wheel. In addition, the electronic steering control module responds to the request of the driver assistance device 100 and controls the steering device. For example, the electronic steering control module receives a steering request including a steering torque from the driver assistance device 100, and controls the steering device according to the requested steering torque to steer the vehicle 1.

[0064] The driver assistance device 100 provides various functions to the driver. For example, the driver assistance device 100 provides Lane Departure Warning (LDW), Lane Keeping Assist (LKA), High Beam Assist (HBA), Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Adaptive Cruise Control (ACC), Blind Spot Detection (BSD), etc.

[0065] The driver assistance device 100 includes a camera 110, a radar 120, and a control unit 140. The driver assistance device 100 is not limited to Figure 1 The illustrated situation may also include a radar (lidar) that scans the periphery of the vehicle 1 to sense an object.

[0066] like Figure 2 As shown, the camera 110 has a field of view 110a facing forward of the vehicle 1. The camera 110 is installed on the front windshield of the vehicle 1, for example.

[0067] The camera 110 captures the front of the vehicle 1 to obtain image data in front of the vehicle 1. The image data in front of the vehicle 1 includes information about other vehicles, pedestrians, cyclists, or lanes (marks distinguishing lanes) located in front of the vehicle 1.

[0068] The camera 110 includes a plurality of lenses and an image sensor. The image sensor includes a plurality of photodiodes that convert light into electrical signals, and the plurality of photodiodes are arranged in a two-dimensional matrix.

[0069] The camera 110 is electrically connected to the control unit 140. For example, the camera 110 is connected to the control unit 140 through the vehicle communication network NT, or is connected to the control unit 140 through a hard wire, or is connected to the control unit 140 through a printed circuit board (PCB). The camera 110 transmits image data in front of the vehicle 1 to the control unit 140.

[0070] like Figure 2 As shown, the radar 120 has a sensing field 120a facing forward of the vehicle 1. The radar 120 is provided on a grille or a bumper of the vehicle 1, for example.

[0071] The radar 120 includes a transmitting antenna (or a transmitting antenna array) that radiates transmission waves toward the front of the vehicle 1 and a receiving antenna (or a receiving antenna array) that receives reflected waves reflected to an object. The radar 120 obtains sensing data from the transmission waves transmitted by the transmitting antenna and the reflected waves received by the receiving antenna. The sensing data includes distance information and speed of other vehicles, pedestrians, or cyclists located in front of the vehicle 1. The radar 120 calculates the state distance to the object based on the phase difference (or time difference) between the transmission wave and the reflected wave, and calculates the relative speed of the object based on the frequency difference between the transmission wave and the reflected wave.

[0072] The radar 120 is connected to the control unit 140 through, for example, a vehicle communication network NT, a hard line, or a printed circuit board. The radar 120 transmits sensing data to the control unit 140.

[0073] The control unit 140 is electrically connected to the camera 110 and the radar 120. The control unit 140 is also connected to the navigation system 10, the driving device 20, the braking device 30, the steering device 40, the display device 50, and the audio device 60 via the vehicle communication network NT.

[0074] The control unit 140 includes a processor 141 and a memory 142 .

[0075] The processor 141 processes the image data of the camera 110 and the sensing data of the radar 120 to generate a driving signal, a braking signal, and a steering signal for controlling the driving device 20, the braking device 30, and the steering device 40. For example, the processor 141 includes an image processor for processing the image data of the camera 110 and / or a digital signal processor for processing the sensing data of the radar 120 and / or a microcontroller (MCU) for generating a driving signal / braking signal / steering signal.

[0076] The processor 141 senses objects (eg, other vehicles, pedestrians, cyclists, etc.) in front of the vehicle 1 based on the image data of the camera 110 and the sensing data of the radar 120 .

[0077] The processor 141 obtains the relative position (distance from the vehicle and angle relative to the travel direction) and classification (for example, the object is another vehicle, a pedestrian, or a cyclist, etc.) of the object in front of the vehicle 1 based on the image data of the camera 110. The processor 141 obtains the relative position (distance from the vehicle and angle relative to the travel direction) and relative speed of the object in front of the vehicle 1 based on the sensing data of the radar 120. In addition, the processor 141 matches the object sensed by the sensing data to the object sensed by the image data, and obtains the classification, relative position, and relative speed of the objects around the vehicle 1 based on the matching result.

[0078] The processor 141 generates a driving signal, a braking signal, and a steering signal based on the relative position and relative speed of the object in front. For example, the processor 141 transmits a driving signal and / or a braking signal to the driving device 20 and / or the braking device 30 so that the distance to the preceding vehicle (or the time to reach the position of the preceding vehicle) becomes the distance set by the driver. The processor 141 calculates the time to collision (TTC) (or the distance to collision, TTD) between the vehicle 1 and the preceding object based on the position (distance) and relative speed of the preceding object, and warns the driver of the collision based on the comparison between the time to collision TTC and the reference value or transmits a braking signal to the braking device 30. In addition, when the processor 141 determines the collision with the preceding object based on the time to collision or the distance to collision, the processor 141 transmits a steering signal to the steering device 40 in order to avoid the collision with the preceding object.

[0079] The processor 141 controls the steering device 40 in a manner to assist the steering to avoid the conflict with the vehicle 10, so as to prevent the vehicle 1 from leaving the target lane. For example, the processor 141 minimizes the risk of conflict that may occur when the vehicle 10 is steering to avoid the conflict based on the driver's operation as shown in FIG.

[0080] FIG. 3 is a diagram for explaining the operation of the vehicle 10 by a conventional driver avoidance steering assist system.

[0081] When there is a danger of collision between the vehicle 1 and a certain vehicle 300, such as the first object 300, the driver attempts to avoid the collision between the vehicle 1 and the first object 300 by operating the steering device 40, such as by operating the steering wheel. In such a case, the processor 141 assists the action of the steering device 42 by providing auxiliary torque to the torque of the steering wheel or by lightening the steering wheel.

[0082] Reference Figure 3a In the past, when the processor 141 provided auxiliary torque to the steering wheel torque, a larger steering direction than the driver intended may occur, thereby Figure 3a As shown, there is a risk that vehicle 1 will leave the lane.

[0083] In addition, refer to Figure 3b In the past, when the processor 141 provided an auxiliary torque to assist the counter steering to the torque of the steering wheel, an auxiliary torque greater than the torque intended by the driver may occur. Figure 3b As shown, there is a risk of a collision between the vehicle 1 and the first object 300 .

[0084] Thus, when the steering device 40 is controlled according to the driver's operation to steer the vehicle 1 , the processor 141 controls the presence or absence of intervention of the assist torque and the control amount of the assist torque to different situations according to the situation of the vehicle 1 .

[0085] To this end, the processor 141 calculates a target heading angle and a target lateral position of the vehicle 1 based on a predetermined yaw rate model (also referred to as a yaw rate function or a yaw rate formula).

[0086] The predetermined yaw rate pattern is stored in the memory 142. The predetermined yaw rate pattern is used to control the presence or absence of intervention of the assist torque and the control amount of the assist torque. Figure 4 This is shown in the graph.

[0087] Figure 4 is a diagram showing a predetermined yaw rate pattern according to one embodiment.

[0088] Reference Figure 4The yaw rate pattern may be a sinusoidal graph of the target yaw rate (also called desired yaw-rate) at each time. When the yaw rate pattern is designed as a sinusoidal graph, the avoidance distance of the vehicle 1 can be made the same as the reverse steering distance. Based on such a yaw rate pattern, a function corresponding to the target trajectory for driving the vehicle 1 can be derived so that the vehicle 1 does not collide with the first object 300, which is the collision avoidance target, and the lateral movement distance is minimized.

[0089] The predetermined yaw rate pattern corresponds to a target travel trajectory of the vehicle 1 that keeps a predetermined distance from the vehicle 1 to the first object 300 that is the collision avoidance target when the vehicle 1 turns to avoid a collision with the vehicle 1 .

[0090] The predetermined yaw rate pattern can be expressed by a function such as the following mathematical formula 1, and the function such as the following mathematical formula 1 is stored in the memory 142 .

[0091] The following mathematical formula 1 and the following mathematical formulas are designed Figure 5 The collision avoidance between the vehicle 1 and the first object 300 which is the collision avoidance target under such conditions is determined.

[0092] Figure 5 It is a diagram for explaining a collision avoidance design of a vehicle 1 according to an embodiment.

[0093] Reference Figure 5 , explain the following mathematical formula.

[0094] [Mathematical formula 1]

[0095]

[0096] γ des represents the target yaw angular velocity, τ represents Figure 4 and Figure 5 The control time in is the total control time for the vehicle 1 to avoid the collision, and t represents time. A is calculated based on the following mathematical formula 2.

[0097] [Mathematical formula 2]

[0098]

[0099] Indicated in Figure 5 The Y-axis position of the first target 300 predicted by the collision time, W T express Figure 5 The width of the first target 300, W S express Figure 5The width of such a vehicle 100, O des express Figure 5 Such a predetermined distance, v x represents the speed of the vehicle 100, Indicated in Figure 5 The X-axis position of the first target predicted by the collision time and the X des express Figure 5 Such a target position of the vehicle 1 on the X-axis.

[0100] The processor 141 calculates the target lateral acceleration and the target lateral velocity based on the equation 1 by the following equations 3 and 4.

[0101] [Mathematical formula 3]

[0102]

[0103] a y，des Indicates the target lateral acceleration.

[0104] [Formula 4]

[0105]

[0106] v y，des represents the target lateral speed, and C1 is calculated based on the following mathematical formula 5.

[0107] [Mathematical formula 5]

[0108]

[0109] The processor 141 expresses the target trajectory for the travel of the vehicle 1 by a function such as the following mathematical formula 6.

[0110] [Mathematical formula 6]

[0111]

[0112] y des represents the target trajectory for driving the vehicle 1, and C2 can be y des (0)Such 0.

[0113] Reference Figure 5 When the vehicle 1 turns to avoid the conflict, the target trajectory for driving the vehicle 1 can be obtained by converting the function of t in equation 6 into the function of x. des The target trajectory can be designed so that the vehicle 1 is separated from the collision avoidance target, that is, the first object 300 by a predetermined distance Odes, y des (x) can also be called the target lateral displacement.

[0114] In order to make the vehicle 1 travel along the target trajectory, Figure 5 The symbol 502 location and the symbol 504 location should satisfy the following conditions.

[0115] 502 Location: y des (0) = 0, v y，des (0) = 0

[0116] 504 Location:

[0117] y des (x) represents the lateral displacement of the target, v y，des represents the target lateral velocity, Indicated in Figure 5 The X-axis position of the first target predicted by the collision time is Indicated in Figure 5 The Y-axis position of the first target 300 predicted by the collision time, W T represents the width of the first target 300, W S Indicates the width of vehicle 1 and O des Indicates the predetermined distance.

[0118] At point 502 , when the position of the first vehicle 1 is assumed to be 0, the target lateral speed of the vehicle 1 is 0, and thus, the following C1 and C2 calculations can be performed.

[0119]

[0120] y des (0) = C2 = 0

[0121] The processor 141 converts the function of t in the above-mentioned mathematical formula 6 into a function of x to derive a function such as the following mathematical formula 7.

[0122] [Formula 7]

[0123]

[0124] The processor 141 calculates A in the above-mentioned equation 2 by using the following equation 8 so that the target trajectory does not contact the first object 300 .

[0125] [Mathematical formula 8]

[0126]

[0127] As described above, when the vehicle 1 turns to avoid the collision, the predetermined distance between the vehicle and the first object 300, which is the collision avoidance target, is 0. des is a design variable, representing a safe distance between the vehicle 1 and the first object 300 .

[0128] When O des When 0 is less than 0, a trajectory is designed in which the vehicle 1 and the first object 300 collide with each other at the expected collision time point. des When the distance between the vehicle 1 and the first object 300 is 0.5 meters, a trajectory is designed such that the lateral distance between the vehicle 1 and the first object 300 is 0.5 meters at the expected collision point between the vehicle 1 and the first object 300 .

[0129] The processor 141 converts y in the mathematical formula 7 into des (x) is differentiated with respect to x, thereby deriving a function such as the following mathematical formula 9.

[0130] [Mathematical formula 9]

[0131]

[0132] Represents the target heading angle of vehicle 1.

[0133] The processor 141 converts the function of x in the equation 9 into a function of t to derive a function such as the following equation 10.

[0134] [Formula 10]

[0135]

[0136] According to the above Figure 5 In the illustrated embodiment, the processor 141 derives a target lateral displacement function (equation 6) and a target heading angle function (equation 10) based on equation 1 which functions the predetermined yaw rate pattern, thereby calculating the target lateral displacement and target heading angle of the vehicle 1.

[0137] Figure 6 The diagram is a graph showing a predetermined yaw rate pattern according to an embodiment and a target heading angle function and a target lateral displacement function corresponding to the yaw rate pattern.

[0138] The graph of the predetermined yaw rate pattern is Figure 6 The target heading angle function curve corresponding to the yaw rate mode is shown in Figure 1. Figure 6 As shown in (b), the curve diagram of the target lateral displacement function corresponding to the yaw angular velocity mode is as follows Figure 6 as shown in (c).

[0139] The processor 141 controls the steering device 40 based on at least one of the image data obtained by the camera 110 , the calculated target heading angle, and the calculated target lateral displacement, so as to assist the steering for avoiding the collision of the vehicle 1 .

[0140] For example, when the driver operates the steering device 40 to perform steering to avoid a conflict with the vehicle 1 , the processor 141 controls the steering device 40 to assist in performing steering to avoid a conflict with the vehicle 1 .

[0141] The processor 141 predicts a collision between the vehicle 1 and at least one object, such as the first object 300 , based on the image data obtained by the camera 110 and / or the sensor data of the data 120 .

[0142] The processor 141 identifies a predicted heading angle and a predicted lateral displacement of the vehicle 1 based on the collision prediction.

[0143] The technology of collision prediction of the vehicle 1 and prediction of the heading angle and lateral displacement of the vehicle 1 based on the collision prediction is a conventional technology, and thus a detailed description thereof will be omitted.

[0144] The processor 141 controls the steering device 40 based on the target heading angle, the target lateral displacement, the predicted heading angle and / or the predicted lateral displacement to assist in steering to avoid the conflict of the vehicle 1 .

[0145] For example, the processor 141 calculates the steering torque (or assist torque) of the steering device 40 based on the target heading angle, the difference between the target heading angle and the predicted heading angle, the target lateral displacement, and the difference between the target lateral displacement and the predicted lateral displacement.

[0146] For example, the processor 141 calculates the steering torque based on the following mathematical formula 11.

[0147] [Mathematical formula 11]

[0148]

[0149]

[0150] T assist represents the steering torque, e y represents the difference between the target lateral displacement and the predicted lateral displacement, represents the difference between the target heading angle and the predicted heading angle, k y represents the gain in predicting lateral displacement, represents the gain of the predicted heading angle. The gain of the predicted lateral displacement and the gain of the predicted heading angle are predetermined.

[0151] The processor 141 controls the steering device 40 based on the calculated steering torque to assist in steering to avoid the collision of the vehicle 1 .

[0152] like Figure 7As shown, the processor 141 can execute the following embodiment of the present invention: judging the driver's avoidance intention at the warning point of the automatic emergency braking device (Autonomous Emergency Braking, AEB) and controlling the steering device 40 to assist in steering for avoiding the conflict of the vehicle 1.

[0153] Figure 7 This is a diagram for explaining the operation of controlling the steering device 40 in one embodiment so as to assist in steering for avoiding a collision of the vehicle 1 .

[0154] Reference Figure 7 The processor 141 predicts a collision between the vehicle 1 and at least one moving object, such as the first object 300 , and identifies a predicted heading angle and a predicted lateral displacement of the vehicle 1 .

[0155] For example, based on the collision prediction, the vehicle 1 controls an output device (not shown) such as a speaker and / or a display of the vehicle 1 to provide a warning 702 indicating the possibility of a collision to the driver.

[0156] The processor 141 is based on τ / 2 and is divided into a first auxiliary control when the driver operates 704 the steering wheel in a first direction and a second auxiliary control when the driver operates 706 the steering wheel in a second direction opposite to the first direction. τ / 2 represents the total control time of the vehicle 1 for avoiding the conflict, that is, half of the total expected time for the vehicle 1 to travel on the target track to be traveled.

[0157] In the case of the first assist control, an assist torque (or steering torque) that can assist the steering of the steering device 40 in preventing a foreseeable conflict in the avoiding direction of the vehicle 1 is generated and / or applied.

[0158] In the case of the second assist control, an assist torque (or also referred to as steering torque) that can assist the steering of the steering device 40 with a predictable conflict in the returning direction of the vehicle 1 is generated and / or applied.

[0159] For example, the processor 141 performs feedback calculation of the assist torque based on the target trajectory 708 for driving the vehicle 1 so as to intervene with the assist torque for the relatively insufficient torque for avoiding steering when the vehicle 1 performs a maneuver for avoiding a collision.

[0160] In addition, for example, the processor 141 feeds back the calculated assist torque so as to intervene in the assist torque for the relatively insufficient return steering torque when the vehicle 1 performs a reverse steering operation.

[0161] Therefore, even in critical situations, the processor 141 can adaptively assist the driver's steering avoidance operation of the vehicle 1 in a manner suitable for the behavior state of the vehicle 1.

[0162] The memory 142 stores programs and / or data for the processor 141 to process image data, programs and / or data for processing sensing data, and programs and / or data for the processor 141 to generate driving signals, / or braking signals, and / or steering signals.

[0163] The memory 142 temporarily stores the image data received from the camera 110 and / or the sensing data received from the radars 120 and 130 , and temporarily stores the processing results of the image data and / or the sensing data by the processor 141 .

[0164] The memory 142 includes not only volatile memories such as static random access memory (S-RAM) and dynamic random access memory (D-RAM), but also non-volatile memories such as flash memory, read only memory (ROM), and erasable programmable read only memory (EPROM).

[0165] The driver assistance device 100 is not limited to Figure 2 The illustrated case also includes a radar (lidar) that scans the periphery of the vehicle 1 and senses objects.

[0166] Figure 8 It is an operation flow chart of the driver assistance device 100 (or the control unit 140 of the driver assistance device 100 or the processor 141 of the driver assistance device 100 ) according to one embodiment.

[0167] The driver assistance device 100 may calculate a target heading angle and a target lateral position 802 of the vehicle 10 .

[0168] The driver assistance device 100 calculates a target heading angle and a target lateral displacement of the vehicle 1 based on a predetermined yaw rate pattern stored in the memory 142 .

[0169] For example, the driver assistance device 100 calculates a target lateral acceleration and a target lateral velocity of the vehicle 1 based on a predetermined yaw rate pattern and the velocity of the vehicle 1. The driver assistance device 100 calculates a target heading angle and a target lateral displacement based on the target lateral acceleration and the target lateral velocity.

[0170] The predetermined yaw rate pattern is as described above Figure 4 Such a sinusoidal wave graph shape can be expressed by a function such as Mathematical Formula 1.

[0171] The target heading angle of the vehicle 1 is the target heading angle at each time, and is calculated by the target heading angle function of equation 10 based on equation 1. The target lateral displacement of the vehicle 1 is the target lateral displacement at each time, and is calculated by the target lateral displacement function of equation 6 based on equation 1.

[0172] The driver assistance device 100 recognizes whether the driver operates the steering device 40 to perform steering 804 for avoiding a collision with the vehicle 1 .

[0173] When the driver operates the steering device 40 806 , the driver assistance device 100 performs an action, and when the driver does not operate the steering device 40 , the action of this embodiment may be terminated.

[0174] The driver assistance device 100 may control 806 the steering device 40 to assist in steering to avoid a conflict with the vehicle 1 .

[0175] The driver assistance device 100 controls the steering device 40 based on the image data obtained by the camera 110 , the target heading angle and / or the target lateral displacement, so as to assist in steering to avoid the collision of the vehicle 1 .

[0176] The driver assistance device 100 predicts a collision between the vehicle and at least one object, such as a first object 300 , based on image data obtained by the camera 110 .

[0177] The driver assistance device 100 identifies a predicted heading angle and a predicted lateral displacement of the vehicle based on the collision prediction.

[0178] The driver assistance device 100 controls the steering device 40 based on the target heading angle, the target lateral displacement, the predicted heading angle, and the predicted lateral displacement to assist in steering for avoiding a collision with the vehicle 1. For example, the driver assistance device 100 calculates the steering torque of the steering device based on the target heading angle, the difference between the target heading angle and the predicted heading angle, the target lateral displacement, and the difference between the target lateral displacement and the predicted lateral displacement. For example, the driver assistance device 100 calculates the steering torque of the steering device based on the above-mentioned mathematical formula 11.

[0179] The driver assistance device 100 assists steering for avoiding a collision of the vehicle 10 based on control of the steering device 40 according to the steering torque.

[0180] Fig. 9 This is a diagram for explaining a collision avoidance operation of the vehicle 1 performed under the control of the driver assistance device 100 according to one embodiment.

[0181] Reference Fig. 9When a collision between the moving vehicle 1 and the first object 300 is predicted by the driver assistance device 100 and / or the user, the driver operates 904 the steering device 40 to try to avoid the collision between the vehicle 1 and the first object 300 .

[0182] When making such an attempt, the driver assistance device 100 recognizes the predicted heading angle and predicted lateral displacement of the vehicle 1 and predicts Fig. 9 Such a trajectory 908 of the travel path that the vehicle 1 is to travel. Hereinafter, the trajectory 908 of the travel path that the vehicle 1 is to travel is referred to as a predicted trajectory 908.

[0183] The driver assistance device 100 predicts based on the predicted trajectory 908: Fig. 9 This is the collision area 906 between the vehicle 1 and the first object 300. In order to avoid such a collision, the driver assistance device 100 operates according to the above-mentioned embodiment.

[0184] The driver assistance device 100 identifies (or determines) the target trajectory 708 for driving the vehicle 1 according to the above-described embodiment when predicting a collision between the moving vehicle 1 and the first object 300. In addition, when predicting a collision, the driver assistance device 100 causes the output device of the vehicle 1 to output a warning 902 that a collision may occur.

[0185] When the driver performs the operation 904 of the steering device 40 to avoid the collision between the vehicle 1 and the first object 300, such as the operation 904 of rotating the steering wheel in the first direction, the driver assistance device 100 identifies (or also refers to as determining) the predicted trajectory 908 of the vehicle 1. For example, the driver assistance device 100 identifies the predicted heading angle and the predicted lateral displacement to identify the predicted trajectory 908 of the vehicle 1.

[0186] The driver assistance device 100 calculates the steering torque so that the predicted trajectory 908 becomes the target trajectory 708, and controls the steering device 40 based on the calculated steering torque. The detailed description of the calculation of the steering torque is as described above, and therefore is omitted here.

[0187] According to the operation of the driver assistance device 100 described above, the collision between the vehicle 1 and the first object 300 is avoided.

[0188] Fig.10 Graphs showing a target travel trajectory of the vehicle 1 and an expected travel trajectory of the vehicle 1 according to one embodiment.

[0189] Fig.10 (a) is a diagram showing Fig. 9 The waveform of the predetermined yaw rate pattern corresponding to the target trajectory 708 and Fig. 9908 is a graph showing the waveform of the yaw rate pattern corresponding to the expected trajectory 908.

[0190] Fig.10 (b) is a diagram showing Fig. 9 The target trajectory 708 corresponds to the waveform of the target heading angle based on the predetermined yaw rate mode and Fig. 9 A graph of the waveform of the expected heading angle corresponding to the expected trajectory 908.

[0191] Fig.10 (c) The waveform of the target lateral displacement is Fig. 9 The target trajectory 708 shown in FIG. Fig.10 (c) The predicted lateral displacement waveform is Fig. 9 Corresponding to the predicted trajectory 908 shown in the figure.

[0192] The driver assistance device 100 is based on Fig.10 (b) and Fig.10 (c) The difference between the target heading angle and the expected heading angle The steering torque (or assist torque) of the steering device 40 for assisting the steering to avoid the collision of the vehicle 1 is calculated based on the difference ey between the target lateral displacement and the expected lateral displacement. The calculation of the steering torque of the steering device 40 is described in detail in the above embodiment, so the description is omitted here.

[0193] Fig.11 This is a diagram for explaining a collision avoidance operation of the vehicle 1 performed under the control of the driver assistance device 100 according to one embodiment.

[0194] Reference Fig.11 , the driver operates the steering wheel 1104, that is, reverse steering 1104, to prevent the vehicle 1 from leaving the lane. At this time, the driver assistance device 100 identifies the predicted heading angle and predicted lateral displacement of the vehicle 1 and predicts the following Fig.11 Trajectory 1108 of the driving path that vehicle 1 is to travel is shown.

[0195] For example, the driver assistance device 100 identifies a target trajectory 708 for driving the vehicle 1 when a collision between the moving vehicle 1 and the first object 300 is predicted. In addition, when a collision is predicted, the driver assistance device 100 causes the output device of the vehicle 1 to output a warning 1102 that a collision may occur. Thereafter, when the vehicle 1 changes lanes and drives to the first lane next to the second lane in which the first object 300 is driving, the driver operates a steering device such as a steering wheel 1108 to prevent the vehicle 1 from leaving the lane. Based on such driver operations, the driver assistance device 100 predicts a trajectory 1108 of the driving path that the vehicle 1 is to travel. Hereinafter, the trajectory 1108 of the driving path that the vehicle 1 is to travel is referred to as a predicted trajectory 1108.

[0196] For example, the driver assistance device 100 identifies the predicted heading angle and the predicted lateral displacement to identify the predicted trajectory 1108 of the vehicle 1 .

[0197] The driver assistance device 100 predicts that the vehicle 1 will leave the lane based on the predicted trajectory 1108. In order to prevent the vehicle 1 from leaving the lane, the driver assistance device 100 operates according to the above-described embodiment.

[0198] For example, the driver assistance device 100 calculates the steering torque so that the predicted trajectory 1108 becomes the target trajectory 708, and controls the steering device 40 based on the calculated steering torque. The detailed description of calculating the steering torque is as described above, and therefore is omitted here.

[0199] The above-described operation of the driver assistance device 100 prevents the vehicle 1 from leaving the lane.

[0200] Fig.12 Graphs showing a target travel trajectory of the vehicle 1 and an expected travel trajectory of the vehicle 1 according to one embodiment.

[0201] Fig.12 (a) is a diagram showing Fig.11 The waveform of the predetermined yaw rate pattern corresponding to the target trajectory 708 and Fig.11 A graph showing the waveform of the yaw rate pattern corresponding to the expected trajectory 1108.

[0202] Fig.12 (b) is a diagram showing Fig.11 The target trajectory 708 corresponds to the waveform of the target heading angle based on the predetermined yaw rate mode and Fig.11 A graph of the waveform of the expected heading angle corresponding to the expected trajectory 1108.

[0203] Fig.12 (c) The waveform of the target lateral displacement is Fig.11 The target trajectory 708 shown in the figure corresponds. Fig.12 (c) The predicted lateral displacement waveform is Fig.11 The predicted trajectory 1108 shown corresponds.

[0204] The driver assistance device 100 is based on Fig.12 (b) and Fig.12 (c) The difference between the target heading angle and the expected heading angle The steering torque (or assist torque) of the steering device 40 that can assist the steering of the vehicle 1 is calculated based on the difference ey between the target lateral displacement and the expected lateral displacement. The calculation of the steering torque of the steering device 40 is described in detail in the above embodiment, so the description is omitted here.

[0205] Fig.13 It is an operation flow chart of the driver assistance device 100 (or the control unit 140 of the driver assistance device 100 or the processor 141 of the driver assistance device 100 ) according to one embodiment.

[0206] The driver assistance device 100 predicts a collision 1302 between the vehicle and at least one object based on the image data obtained by the camera 110 .

[0207] The driver assistance device 100 calculates a target heading angle and a target lateral displacement 1304 of the vehicle 1 based on a prediction of a collision between the vehicle 1 and at least one object, such as the first object 300 , and a predetermined yaw rate pattern.

[0208] For example, when a collision between the vehicle 1 and at least one object is predicted, the driver assistance device 100 calculates a target heading angle and a target lateral displacement of the vehicle 1. The specific embodiments of calculating the target heading angle and the target lateral displacement of the vehicle 1 are described above, and thus are omitted here.

[0209] The driver assistance device 100 recognizes whether the driver operates the steering device 40 to perform steering 1306 to avoid a collision with the vehicle 1 .

[0210] When the driver operates the steering device 40 1308 , the driver assistance device 100 performs an action, and when the driver does not operate the steering device 40 , the driver assistance device 100 ends the action of this embodiment.

[0211] The driver assistance device 100 controls the steering device 40 based on at least one of the target heading angle and the target lateral displacement to perform steering 1308 for avoiding the collision of the vehicle 1 .

[0212] The specific embodiment of the control of the steering device 40 is described above, and therefore the description thereof is omitted here.

[0213] On the other hand, the disclosed embodiments may be embodied in the form of a recording medium storing commands executable by a computer. The commands may be stored in the form of program codes, and when executed by a processor, a program module is generated to perform the actions of the disclosed embodiments. The recording medium may be embodied in a recording medium readable by a computer.

[0214] Computer-readable recording media include all kinds of recording media storing command words that can be interpreted by a computer, such as ROM (Read Only Memory), RAM (Random Access Memory), magnetic tapes, magnetic disks, flash memories, optical data storage devices, and the like.

[0215] The disclosed embodiments are described above with reference to the accompanying drawings. A person skilled in the art may implement the present invention in a form different from the disclosed embodiments without changing the technical concept or essential features of the present invention. The disclosed embodiments are illustrative only, and the present invention is not limited thereto.

Claims

1. A driver assistance device, comprising: A camera, which is mounted on the vehicle and has a front view of the vehicle to obtain image data; a memory storing a predetermined yaw rate pattern, the yaw rate pattern being a sine wave graph of a target yaw rate at each time; and A control unit, comprising a processor for processing the image data, The control unit calculates a target heading angle and a target lateral displacement of the vehicle based on the predetermined yaw rate pattern. When the driver operates the steering device to perform steering to avoid the collision of the above-mentioned vehicles, the steering device is controlled based on at least one of the above-mentioned image data, the above-mentioned target heading angle and the above-mentioned target lateral displacement to assist in steering to avoid the collision of the above-mentioned vehicles, The predetermined yaw rate pattern corresponds to a target trajectory of the vehicle that separates the vehicle from the first object by a predetermined distance when turning to avoid a collision between the vehicle and the first object. The control unit is configured as follows: determining a predicted trajectory of the vehicle when the driver operates the steering device to avoid a collision between the vehicle and the first object, Calculate the steering torque so that the predicted trajectory is the same as the target trajectory. The steering device is controlled based on the calculated steering torque.

2. The driver assistance device according to claim 1, wherein: The control unit controls the steering device to assist in steering for avoiding a collision with the vehicle so that the vehicle does not deviate from a target lane.

3. The driver assistance device according to claim 1, wherein: The control unit predicts a collision between the vehicle and at least one object based on the image data, The control unit identifies a predicted heading angle and a predicted lateral displacement of the vehicle based on the prediction of the conflict, The predicted trajectory of the vehicle is determined based on the predicted heading angle and the predicted lateral displacement of the vehicle.

4. The driver assistance device according to claim 3, wherein: The control unit controls the steering device based on the target heading angle, the target lateral displacement, the predicted heading angle, and the predicted lateral displacement to assist in steering to avoid a collision with the vehicle.

5. The driver assistance device according to claim 4, wherein: The control unit calculates the steering torque of the steering device based on the target heading angle, the difference between the target heading angle and the predicted heading angle, the target lateral displacement, and the difference between the target lateral displacement and the predicted lateral displacement. The control unit assists steering for avoiding a collision of the vehicle by controlling the steering device according to the steering torque.

6. The driver assistance device according to claim 1, wherein: The control unit calculates a target lateral acceleration and a target lateral velocity of the vehicle based on the predetermined yaw rate pattern and the velocity of the vehicle. The control unit calculates the target heading angle and the target lateral displacement based on the target lateral acceleration and the target lateral speed.

7. A driver assistance method, comprising the following steps: The target heading angle and target lateral displacement of the vehicle are calculated based on a predetermined yaw rate pattern stored in a memory, wherein the yaw rate pattern is a sine wave graph of the target yaw rate at each time. When the driver operates the steering device to perform steering to avoid the conflict of the above-mentioned vehicles, the steering device is controlled based on the image data obtained by the camera, at least one of the target heading angle and the target lateral displacement, so as to assist in steering to avoid the conflict of the above-mentioned vehicles. The predetermined yaw rate pattern corresponds to a target trajectory of the vehicle that separates the vehicle from the first object by a predetermined distance when turning to avoid a collision between the vehicle and the first object. Controlling the steering device to assist in steering to avoid the collision of the vehicles includes: determining a predicted trajectory of the vehicle when the driver operates the steering device to avoid a collision between the vehicle and the first object, Calculate the steering torque so that the predicted trajectory is the same as the target trajectory. The steering device is controlled based on the calculated steering torque.

8. The driver assistance method according to claim 7, wherein: The step of controlling the steering device to assist in steering to avoid the conflict of the vehicle includes: controlling the vehicle not to leave the target lane.

9. The driver assistance method according to claim 7, wherein: The step of controlling the steering device to assist in steering to avoid the collision of the vehicles comprises: predicting a conflict between the vehicle and at least one object based on the image data, Based on the prediction of the conflict, the predicted heading angle and the predicted lateral displacement of the vehicle are identified. controlling the steering device based on the target heading angle, the target lateral displacement, the predicted heading angle, and the predicted lateral displacement to assist in steering to avoid a collision with the vehicle; The predicted trajectory of the vehicle is determined based on the predicted heading angle and the predicted lateral displacement.

10. The driver assistance method according to claim 9, wherein: The step of controlling the steering device to assist in steering to avoid the collision of the vehicles comprises: the steering torque of the steering device is calculated based on the target heading angle, the difference between the target heading angle and the predicted heading angle, the target lateral displacement, and the difference between the target lateral displacement and the predicted lateral displacement; Based on the control of the steering device according to the steering torque, steering for avoiding the collision of the vehicles is assisted.

11. The driver assistance method according to claim 7, wherein: The steps of calculating the target heading angle and the target lateral displacement include: calculating a target lateral acceleration and a target lateral velocity of the vehicle based on the predetermined yaw rate pattern and the velocity of the vehicle, The target heading angle and the target lateral displacement are calculated based on the target lateral acceleration and the target lateral velocity.

12. A driver assistance device, comprising: A camera, which is mounted on the vehicle and has a front view of the vehicle to obtain image data; a memory storing a predetermined yaw rate pattern, the yaw rate pattern being a sine wave graph of a target yaw rate at each time; and A control unit, comprising a processor for processing the image data, The control unit predicts a collision between the vehicle and at least one object based on the image data, The control unit identifies a predicted heading angle and a predicted lateral displacement of the vehicle based on the prediction of the conflict, The control unit calculates a target heading angle and a target lateral displacement of the vehicle based on a prediction of a collision between the vehicle and the at least one object and the predetermined yaw rate pattern, When the driver operates the steering device to perform steering to avoid the conflict with the above-mentioned vehicle, the steering device is controlled based on the above-mentioned target heading angle, the above-mentioned target lateral displacement, the above-mentioned predicted heading angle and the above-mentioned predicted lateral displacement to assist in steering to avoid the conflict with the above-mentioned vehicle, The predetermined yaw rate pattern corresponds to a target trajectory of the vehicle that separates the vehicle from the first object by a predetermined distance when turning to avoid a collision between the vehicle and the first object. The control unit is configured as follows: Based on the prediction of the conflict, the predicted heading angle and the predicted lateral displacement of the vehicle are identified. determining a predicted trajectory of the vehicle when the driver operates the steering device to avoid a collision between the vehicle and the first object, Based on the target heading angle, the target lateral displacement, the predicted heading angle and the predicted lateral displacement, a steering torque is calculated so that the predicted trajectory is the same as the target trajectory. The steering device is controlled based on the calculated steering torque.

13. The driver assistance device according to claim 12, wherein: The control unit recognizes whether the driver operates a steering device for steering the vehicle to avoid the collision in response to a predicted collision between the vehicle and the at least one object.

14. The driver assistance device according to claim 12, wherein: The control unit controls the steering device to assist in steering for avoiding a collision with the vehicle so that the vehicle does not deviate from a target lane.

15. The driver assistance device according to claim 12, wherein: The control unit predicts a collision between the vehicle and the at least one object based on the image data.

16. The driver assistance device according to claim 12, wherein: The control unit calculates the steering torque of the steering device based on the target heading angle, the difference between the target heading angle and the predicted heading angle, the target lateral displacement, and the difference between the target lateral displacement and the predicted lateral displacement. The control unit assists steering for avoiding a collision of the vehicle by controlling the steering device according to the steering torque.

17. The driver assistance device according to claim 12, wherein: The control unit calculates a target lateral acceleration and a target lateral velocity of the vehicle based on the predetermined yaw rate pattern and the velocity of the vehicle. The control unit calculates the target heading angle and the target lateral displacement based on the target lateral acceleration and the target lateral speed.

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