Method and System for Vehicle Object Detection

Abstract

A method and system for vehicle object detection are provided. In this method and system, when a vehicle turns, the collision risk level between the host vehicle and another vehicle behind the host vehicle can be accurately identified by correcting the host vehicle's driving path and the other vehicle's position based on the host vehicle's driving state. Consequently, an alert signal corresponding to the collision risk level is generated at the appropriate time.

Description

Technical Field

[0001] The present invention relates to a method and system for vehicle target detection, which accurately detect another vehicle as a target behind a host vehicle and send a warning signal to the host vehicle. Background Art

[0002] The vehicle's blind spot warning system alerts the driver when there is an obstacle in the vehicle's blind spot while the vehicle is driving, or when it is determined that there is a risk of collision with another vehicle approaching at high speed from behind when the host vehicle changes lanes to the left or right, thereby improving the driver's convenience.

[0003] Specifically, such blind spot warning systems include a blind spot detection (BSD) system that notifies the driver when an obstacle is in the blind spot behind the vehicle, and a lane change assist (LCA) system that alerts the driver when a collision potential with another vehicle approaching at high speed from behind is determined during a lane change. Recently, in particular, blind spot warning systems have been developed that simultaneously implement both BSD and LCA functions to detect a large area and effectively notify the driver of danger.

[0004] Vehicle blind spot warning systems according to related art use radar sensors behind the host vehicle to generate an alarm when they detect another vehicle posing a collision risk. However, when the host vehicle turns and its direction of movement changes, the radar sensor's sensing range no longer includes the vehicle behind the host vehicle. Furthermore, there is the problem of generating false alarms due to abnormal sensing of another vehicle behind the host vehicle.

[0005] The foregoing content is only used to help understand the background of the present invention and does not mean that the present invention belongs to the scope of related technologies known to those skilled in the art. Summary of the Invention

[0006] Thus, the present invention has been made in view of the above problems occurring in the related art, and the present invention aims to provide a method and system for vehicle target detection, which is configured such that when the main vehicle turns, an alarm signal is accurately generated according to the risk of collision with another vehicle behind the main vehicle by correcting the position of another vehicle traveling behind the main vehicle according to the traveling direction of the main vehicle.

[0007] In order to achieve the above objectives, according to an embodiment of the present invention, a method for vehicle target detection is provided, comprising: collecting driving path data of the vehicle; detecting position data of the target; correcting the driving path data of the vehicle and the position data of the target based on the moving distance and moving angle of the vehicle when the vehicle turns; and identifying the relative position of the target with respect to the vehicle based on the corrected driving path data of the vehicle and the position data of the target.

[0008] The collecting of the driving path data may include, when the vehicle turns, deriving past movement coordinates of the vehicle according to the movement distance and the movement angle based on current reference coordinates of the vehicle.

[0009] Collecting travel path data may include deriving the movement angle based on a yaw rate and a steering wheel angle of the turning vehicle.

[0010] The collecting of the driving path data may include deriving the movement angle with a weight given according to the driving speed of the vehicle.

[0011] Correcting the driving path data and the position data may include: deriving a plurality of past movement coordinates and the position coordinates of the target detected from each past movement coordinate; and correcting the past movement coordinates and the position coordinates so that the past movement coordinates and the position coordinates are arranged in one direction.

[0012] The method may further include, when identifying the relative position of the target with respect to the vehicle by identifying the relative position of the target, determining whether to generate an alarm signal according to the position of the target.

[0013] The determining may include, when the target is detected while the vehicle is turning, determining not to generate the alarm signal when it is confirmed that the relative position of the target with respect to the vehicle is located in a straight line with the vehicle.

[0014] The determining may include, when the target is not detected while the vehicle is turning, determining that the alarm signal is generated when a relative position of the target with respect to the vehicle is located at a predetermined angle or more from the vehicle.

[0015] At the same time, according to an embodiment of the present invention, a system for vehicle target detection is provided, including: a distance calculator, which is configured to determine the moving distance of the vehicle; an angle calculator, which is configured to determine the moving angle of the vehicle; a target sensor, which is configured to detect the position of the target; and a controller, which is configured to collect the driving path data of the vehicle, detect the position data of the target, correct the past driving path data of the vehicle and the position data of the target based on the moving distance and moving angle of the vehicle when the vehicle turns, and identify the relative position of the target with respect to the vehicle based on the corrected driving path data of the vehicle and the position data of the target.

[0016] The controller may derive a plurality of past movement coordinates based on the driving path data, derive a position coordinate of the target detected by the target sensor from each past movement coordinate, and correct the past movement coordinates and the position coordinates to be arranged in one direction.

[0017] The system may further include an alarm generator configured to generate an alarm signal based on a collision risk level between the host vehicle and the target vehicle. When the relative position of the target relative to the vehicle is identified, the controller may determine whether to generate the alarm signal via the alarm generator based on the position of the target.

[0018] When the object is detected while the vehicle is turning, the controller may prevent the alarm signal from being generated by the alarm generator when it is confirmed that the relative position of the object with respect to the vehicle is located on a straight line with the vehicle.

[0019] When the target is detected while the vehicle is turning, the controller may generate the alarm signal through the alarm generator when confirming that the relative position of the target with respect to the vehicle is located at a predetermined angle or more from the vehicle.

[0020] When the target is not detected while the vehicle is turning, the controller may generate the alarm signal through the alarm generator when the relative position of the target with respect to the vehicle is located at a predetermined angle or more from the vehicle.

[0021] According to an exemplary embodiment of the present invention, when the host vehicle turns, when the collision risk between the host vehicle and the other vehicle is accurately identified by correcting the driving path of the host vehicle and the position of the other vehicle based on the driving state of the host vehicle, an alarm signal that meets the collision risk level can be generated at the right time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other objects, features and other advantages of the present invention will be more clearly understood from the following detailed description when taken in conjunction with the accompanying drawings, in which:

[0023] Figure 1 FIG. 1 is a flow chart showing a method according to an embodiment of the present invention.

[0024] Figures 2A to 6 For illustration Figure 1 A view of the method shown in .

[0025] Figure 7 is a block diagram illustrating a method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In the following description, structural or functional descriptions specified for exemplary embodiments according to the concept of the present invention are intended to describe the exemplary embodiments, and it should be understood that the present invention can be implemented in various forms and is not limited to the exemplary embodiments.

[0027] The embodiments described herein can be varied in various ways and shapes, and therefore specific embodiments are shown in the accompanying drawings and will be described in detail in this specification. However, it should be understood that the exemplary embodiments according to the concepts of the present invention are not limited to the embodiments to be described below with reference to the accompanying drawings, but all modifications, equivalents and replacements are included within the scope and spirit of the present invention.

[0028] It will be understood that, although the terms first and / or second etc. may be used herein to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish one element from another element. For example, without departing from the teachings of the present invention, the first element discussed below can be referred to as the second element. Similarly, the second element can also be referred to as the first element.

[0029] It should be understood that when an element is referred to as being “connected to” or “coupled to” another element, it can be directly connected to or directly coupled to the other element, or connected to or coupled to the other element with other elements intervening therebetween. On the other hand, it should be understood that when an element is referred to as being “directly connected to” or “directly coupled to” another element, it can be connected to or coupled to the other element without other elements intervening therebetween. Furthermore, the terms “between,” “directly between,” “adjacent,” or “directly adjacent” used herein to describe the relationship between elements should be interpreted in the same manner.

[0030] The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. Unless the context clearly indicates otherwise, the singular form is intended to include the plural form. It will be further understood that the terms "including" or "having" used in this specification clearly specify the presence of the features, steps, operations, components, parts or their combination, but do not exclude the presence or addition of one or more other features, numerical labels, steps, operations, components, parts or their combination.

[0031] Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by those skilled in the art to which the present invention belongs. It must be understood that dictionary-defined terms have the same meaning as in the context of the relevant technology and should not be ideally or excessively formally defined unless the context clearly dictates otherwise.

[0032] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The same reference numerals given in the accompanying drawings represent the same components.

[0033] Hereinafter, a system and method for detecting a vehicle blind spot according to preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[0034] Figure 1 To show a flow chart of a method according to an embodiment of the present invention, Figures 2A to 6 For illustration Figure 1 A view of the method shown in , and Figure 7 is a block diagram illustrating a method according to an embodiment of the present invention.

[0035] Reference Figure 1 According to this embodiment, the method for vehicle target detection includes: at S10, collecting driving path data of the vehicle; at S20, detecting position data of the target; at S30, correcting the driving path data of the vehicle and the position data of the target based on the moving distance and moving angle of the vehicle when the vehicle turns; and at S40, identifying the relative position of the target with respect to the vehicle based on the corrected driving path data of the vehicle and the position data of the target.

[0036] The vehicle's driving path data may include information such as the main vehicle's driving speed, turning angle, and moving distance, and each piece of information may be collected through GPS, a steering wheel sensor, a yaw rate sensor, and a speed sensor.

[0037] The target's position data is information about an obstacle located behind the host vehicle, which is another vehicle traveling behind the host vehicle. The target's position data can be used to determine the position of the other vehicle traveling behind the host vehicle using a radar sensor, a camera sensor, a laser sensor, or the like.

[0038] As described above, the driving path data of the vehicle may be collected through the collection at S10 , and the position data of the target may be detected through the detection at S20 .

[0039] Meanwhile, in the correction of S30 , the driving path data of the vehicle and the position data of the target may be corrected based on the moving distance and the moving angle of the vehicle when the vehicle turns.

[0040] That is, when the host vehicle is traveling in a straight line, the position of another vehicle traveling behind the host vehicle can be accurately detected by the sensing range set behind the host vehicle. However, when the host vehicle turns, since the sensing range set behind the host vehicle moves as much as the turning angle of the host vehicle, it may not be possible to accurately detect the other vehicle traveling behind the host vehicle. For example, if Figure 2A As shown in FIG, when the host vehicle V1 turns, the sensing range S moves by the turning angle, so another vehicle V2 behind the host vehicle that should be detected normally may not be detected, and thus an alarm signal may not be generated. Figure 2B As shown, when host vehicle V1 turns, the sensing range S shifts by the turning angle, causing another vehicle V2 behind the host vehicle to be detected and potentially erroneously generating an alarm signal. More specifically, the other vehicle V2 behind the host vehicle is located in an adjacent lane, so there is a potential collision risk with the host vehicle V1 when the host vehicle V1 changes lanes or turns. At the same time, the other vehicle V2 behind the host vehicle V1 may not pose a collision risk when the host vehicle V1 changes lanes or turns.

[0041] Thus, in the correction at S30, the vehicle's travel path data and the target's position data can be corrected based on the vehicle's travel distance and travel angle when the vehicle turns. In other words, when the vehicle turns, the vehicle's movement change and the target's movement change relative to the vehicle can be derived based on the vehicle's travel distance and travel angle, and the turning state can be corrected as if it were a straight-line driving state.

[0042] like Figure 3 As shown in FIG. 1 , when a vehicle turns, the position of the sensing range changes, making it possible that normal sensing of the following vehicle may not be performed. Therefore, when the vehicle turns, based on the vehicle's movement distance and movement angle, the driving path data of the vehicle actually turning and the target's position data (shown as a solid line L1) can be corrected as if the vehicle were traveling in a straight line, as shown by a dotted line L2. This allows the sensing range that changes when the vehicle turns to detect the normal sensing range and prevents sensing errors.

[0043] By calibrating the vehicle's travel path data and the target's position data through calibration at S30, the target's relative position relative to the vehicle can be identified through recognition at S40. In other words, even when the vehicle is turning, the vehicle's travel path data and the target's position data are corrected as if the vehicle were traveling in a straight line. This prevents sensing errors caused by shifting sensing ranges when the vehicle turns. Furthermore, by identifying the target's relative position at S40, the sensing range can be adjusted by adjusting the angle of the sensor detecting the vehicle's rearward position based on the target's relative position relative to the vehicle.

[0044] Therefore, when the vehicle turns, the vehicle's driving path and the target's position relative to the vehicle can be corrected based on the vehicle's driving state, so that by accurately identifying the collision risk between the main vehicle and another vehicle behind, an alarm signal according to the collision risk level can be generated at the right time.

[0045] In other words, if Figure 3 As shown, even when there is a target behind the host vehicle and the host vehicle is turning, although the target may not be detected, by correcting the vehicle's driving path and the position of the target relative to the vehicle based on the host vehicle's driving state, an alarm signal based on the target's position can be generated at the right time, and the target can be normally identified as being within the sensing range.

[0046] According to a specific embodiment of the present invention, when collecting driving path data at S10, the vehicle's past motion coordinates are derived based on the vehicle's current reference coordinates, using the distance and angle of travel. Thus, when the vehicle turns, the vehicle's past motion coordinates derived based on the distance and angle of travel can be used as a source for correcting the vehicle's driving path data. In collecting driving path data at S10, the turning vehicle's yaw rate and steering wheel angle can be used to derive the angle of travel. Furthermore, in collecting driving path data at S10, the angle of travel can be derived using a weight assigned based on the vehicle's driving speed.

[0047] This can be derived from the following equation.

[0048] ΔΘ=α*A+(1-α)*B

[0049] Here, ΔΘ is the angle change of the yaw axis, A is the angle change based on the yaw rate, B is the steering wheel angle change, and α is a weight according to the angle change.

[0050] Alternatively, A can be derived from the equation "Yawrate (yaw rate) * dt," and B from the equation "Vs dt / Radius (radius of curvature)." Here, Radius can be derived from "wheelbase / sin (steering wheel angle / steering ratio)" (wheelbase / sin (steering wheel angle / steering ratio)), where the steering ratio is the ratio of the steering wheel angle to the wheel angle. Alternatively, Radius can be derived as follows.

[0051]

[0052] Furthermore, the weight may be determined as follows.

[0053] 0When 0≤Vs<Vs1

[0054] When Vs1≤Vs<Vs2

[0055] 1 When Vs2≤Vs

[0056] In other words, if Figure 4 As shown, weights can be set based on the vehicle's speed, and Vs1 and Vs2 can be preset based on the vehicle's specifications. Thus, when the vehicle's speed is below Vs1, the accuracy of the yaw rate sensor decreases, so the weight of the steering wheel angle change can be increased. However, when the vehicle's speed exceeds Vs2, it is recommended to increase the weight of the yaw rate, which is directly related to the vehicle's posture. Furthermore, when the vehicle's speed is between Vs1 and Vs2, the weight can be derived by adding the weights for the steering wheel angle and the yaw rate.

[0057] Thus, when a vehicle turns, embodiments of the present invention derive the vehicle's past motion coordinates based on the vehicle's current reference coordinates and the distance and angle of movement. When deriving the vehicle's past motion coordinates, the target's position data is also collected from the corresponding past motion coordinates, allowing for the storage of vehicle and target movement information.

[0058] like Figure 5 As shown, target information correction based on the vehicle's travel path can be performed as follows.

[0059] First, the movement information of the past k time periods can be updated and stored.

[0060]

[0061]

[0062] like Figure 5As shown, the longitudinal direction as the traveling direction becomes the X axis, the lateral direction becomes the Y axis, and Γ is the moving distance of the vehicle.

[0063] Thereafter, the vehicle's travel path may be updated and stored.

[0064] Δx k，1 =Δx k

[0065] Δy k，1 =Δy k

[0066] Δx k，i =f(Δx k-1，i-1 , Δy k-1，i-1 , Δx k，i-1 , Δy k，i-1 , Δθ k )

[0067] Δy k，i =g(Δx k-1，i-1 , Δy k-1，i-1 , Δx k，i-1 , Δy k，i-1 , Δθ k )

[0068] This can be determined as follows.

[0069]

[0070] Here, the position of i can be the distance from the target in the driving path of the host vehicle when turning The nearest point.

[0071] Therefore, the target information according to the movement information of the host vehicle may be corrected as follows.

[0072] XPos″′=h(XPos, YPos, Δx k，i-1 , Δy k，i-1 , Δx k，i-1 , Δy k，i-1 , Δθ k-i )

[0073] YPos″′=i(XPos, YPos, Δx k，i-1 , Δ yk，i-1 , Δx k，i-1 , Δ yk，i-1 , Δθ k-i )

[0074] XVel″′=j(XVel, YVel, Δx k，i-1 , Δy k，i-1 , Δx k，i-1 , Δy k，i-1, Δθ k-i )

[0075] YVel″′=k(XVel, YVel, Δx k，i-1 , Δy k，i-1 , Δx k，i-1 , Δy k，i-1 , Δθ k-i )

[0076] This can be determined as follows.

[0077]

[0078] Through the above, the vehicle's driving path data and the target's position data can be corrected, and the target's relative position with respect to the vehicle can be identified based on the corrected vehicle's driving path data and the target's position data. On the other hand, if the relative position of the target with respect to the vehicle can be identified by identifying the target's relative position at S40, an alarm can be further included at S50 to determine whether an alarm signal should be generated based on the target's position. The alarm signal provided by the alarm at S50 can be an audible alarm or an audible alarm light, and whether the alarm signal should be generated can be determined based on the distance or relative speed between the vehicle and the target, which is another vehicle, according to the collision risk level.

[0079] Specifically, in the warning at S50 , when the target is detected while the vehicle is turning, and when it is confirmed that the relative position of the target with respect to the vehicle is located in a straight line with the vehicle, the warning signal may not be generated.

[0080] In other words, the corrected vehicle's driving path data and the target's position data (which may be such as Figure 3 The positions of the vehicle and target are corrected data) to identify the relative position of the target with respect to the vehicle.

[0081] Thus, in the case of an alarm, when a target is detected while the vehicle is turning, if the relative position of the target with respect to the vehicle is confirmed to be located in a straight line with the vehicle, the alarm signal may not be generated. In other words, when the vehicle is turning, in a state where the relative position of the target with respect to the vehicle is located in a straight line with the vehicle, even if the target is detected in the sensing range generated behind the vehicle, the target is actually located behind the vehicle, as shown in FIG. Figure 6 As shown, no alarm signal may be generated.

[0082] Meanwhile, in the warning at S50, when the target is not detected while the vehicle is turning, an alarm signal may be generated when the target's relative position relative to the vehicle is at a predetermined angle or greater from the vehicle. Here, the predetermined angle may be the adjacent driving lane behind the host vehicle or any point, depending on the level of collision risk with another vehicle.

[0083] In other words, when the vehicle turns, in a state where the relative position of the target with respect to the vehicle is located at a predetermined angle or more from the vehicle, even when the target is not detected in the sensing range generated behind the vehicle, the actual target is located behind the vehicle and thus poses a collision risk, such as Figure 3 As shown, an alarm signal can be generated.

[0084] Therefore, when the vehicle turns, the driving path of the main vehicle and the position of another vehicle behind the main vehicle are corrected based on the driving state of the main vehicle, so that by accurately identifying the collision risk between the main vehicle and the other vehicle behind, an alarm signal according to the collision risk level can be generated at the right time.

[0085] On the other hand, systems for vehicle target detection, such as Figure 7 As shown, it includes: a distance calculator 10, which is configured to determine the moving distance of the vehicle; an angle calculator 20, which is configured to determine the moving angle of the vehicle; a target sensor 30, which is configured to detect the position of the target; and a controller 40, which is configured to collect the vehicle's driving path data, detect the position data of the target, correct the vehicle's past driving path data and the target's position data based on the vehicle's moving distance and moving angle when the vehicle turns, and identify the target's relative position with respect to the vehicle based on the corrected vehicle's driving path data and the target's position data.

[0086] The distance calculator 10 includes a GPS, a speed sensor, and a wheel sensor, and can collect information on a moving distance of the vehicle.

[0087] The angle calculator 20 includes a steering wheel sensor and a yaw rate sensor, and may collect information on a moving angle of the vehicle.

[0088] The target sensor 30 includes a radar sensor, a camera sensor, and a laser sensor, and may collect information of another vehicle behind the host vehicle.

[0089] When the host vehicle turns, the controller 40 corrects the host vehicle's driving path and the position of the following vehicle based on the host vehicle's driving state, and thus can generate an alarm signal that meets the collision risk level at the right time.

[0090] The controller 40 can derive a plurality of past motion coordinates based on the driving path data, can derive the position coordinates of the target detected by the target sensor from each past motion coordinate, and can correct the past motion coordinates and the position coordinates to be arranged in the same direction. By accurately positioning the vehicle's driving path and the target's driving path when the vehicle turns, the collision risk level between the vehicle and the target can be accurately identified.

[0091] Meanwhile, the system further includes an alarm generator 50 to generate an alarm signal according to the collision risk level between the vehicle and the target. The alarm generator 50 can generate an alarm signal by flashing an alarm light through a side mirror, an instrument panel, etc., or generating an alarm sound inside the vehicle.

[0092] When the relative position of the target with respect to the vehicle is identified, the controller 40 may determine whether to generate an alarm signal through the alarm generator 50 according to the position of the target.

[0093] In more detail, when the object is detected while the vehicle is turning, the controller 40 may prevent the alarm signal from being generated through the alarm generator 50 when it is confirmed that the relative position of the object with respect to the vehicle is located on a straight line with the vehicle.

[0094] In addition, when the target is not detected while the vehicle is turning, the controller 40 may generate an alarm signal through the alarm generator 50 when the relative position of the target with respect to the vehicle is located at a predetermined angle or more from the vehicle.

[0095] The controller 40 may include a processor or microprocessor. The controller 40 may also include a computer-readable recording medium storing computer-readable code, algorithms, or software. When executing the computer-readable code, algorithms, or software stored on the computer-readable recording medium, the processor / microprocessor may perform the functions, operations, steps, etc. described with reference to the controller 40.

[0096] According to an embodiment of the present invention, when the main vehicle turns, when the collision risk between the main vehicle and the rear vehicle is accurately identified by correcting the driving path of the main vehicle and the position of the rear vehicle based on the driving state of the main vehicle, an alarm signal that meets the collision risk level can be generated at the right time.

[0097] Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the spirit and scope of the invention.

Claims

1. A method for vehicle target detection, comprising: Collect vehicle travel path data; Detection target location data; Correcting the travel path data of the vehicle and the position data of the target as if the vehicle and the target were traveling in a straight line based on the travel distance and the travel angle of the vehicle when the vehicle turns; as well as Based on the corrected driving path data of the vehicle and the position data of the target, the relative position of the target with respect to the vehicle is identified to determine whether the target is in a blind spot of the vehicle.

2. The method according to claim 1, wherein Collecting the driving path data includes deriving past movement coordinates of the vehicle according to the movement distance and the movement angle based on current reference coordinates of the vehicle when the vehicle turns.

3. The method according to claim 2, wherein: The collecting travel path data further includes deriving the movement angle based on a yaw rate and a steering wheel angle of the vehicle.

4. The method according to claim 3, wherein: The collecting of the driving path data further includes deriving the movement angle using a weight given according to the driving speed of the vehicle.

5. The method according to claim 2, wherein: Correcting the driving path data and the position data includes: deriving a plurality of past movement coordinates and the position coordinates of the target detected from each past movement coordinate; and correcting the past movement coordinates and the position coordinates so that the past movement coordinates and the position coordinates are arranged in one direction.

6. The method according to claim 1, further comprising: When the relative position of the target with respect to the vehicle is identified by identifying the relative position of the target, whether to generate an alarm signal is determined according to the position of the target.

7. The method according to claim 6, wherein: The determination includes, when the target is detected while the vehicle is turning, determining not to generate the alarm signal when it is confirmed that the relative position of the target with respect to the vehicle is located in a straight line with the vehicle.

8. The method according to claim 6, wherein: The determining includes, when the target is not detected while the vehicle is turning, determining to generate the alarm signal when a relative position of the target with respect to the vehicle is located at a predetermined angle or more from the vehicle.

9. A system for vehicle target detection, the system comprising: a distance calculator configured to determine a distance traveled by the vehicle; an angle calculator configured to determine an angle of movement of the vehicle; a target sensor configured to detect position data of a target; and A controller configured to collect driving path data of the vehicle, detect position data of the target, correct the past driving path data of the vehicle and the position data of the target as if the vehicle and the target were traveling in a straight line based on the movement distance and movement angle of the vehicle when the vehicle turns, and identify the relative position of the target with respect to the vehicle based on the corrected driving path data of the vehicle and the position data of the target to determine whether the target is in a blind spot of the vehicle.

10. The system according to claim 9, wherein: The controller derives a plurality of past movement coordinates based on the driving path data, derives position coordinates of the target detected by the target sensor from each past movement coordinate, and corrects the past movement coordinates and the position coordinates to be arranged in one direction.

11. The system of claim 9, further comprising: an alarm generator configured to generate an alarm signal according to a collision risk level between the vehicle and the object, When the relative position of the target relative to the vehicle is identified, the controller determines whether to generate the alarm signal through the alarm generator according to the position of the target.

12. The system according to claim 11, wherein When the object is detected while the vehicle is turning, the controller prevents generation of the alarm signal by the alarm generator when it is confirmed that the relative position of the object with respect to the vehicle is located on a straight line with the vehicle.

13. The system according to claim 11, wherein: When the target is not detected while the vehicle is turning, the controller generates the alarm signal through the alarm generator when the relative position of the target with respect to the vehicle is located at a predetermined angle or more from the vehicle.

Images