Driving assistance apparatus and method of controlling the same

Abstract

The invention relates to a driving assistance apparatus and a method of controlling the same. The driving assistance device may include a camera associated with the vehicle and configured to generate image data of a surroundings of the vehicle and a processor configured to process the image data. The processor may be configured to obtain information about a position of an accelerator pedal of the vehicle and information about a position of a brake pedal of the vehicle, and increase a coasting torque for regenerative braking in a driving device of the vehicle based on the image data when the accelerator pedal is located at its original position and the brake pedal is located at its original position.

Description

Technical Field

[0001] Embodiments of the present disclosure generally relate to a driving assistance apparatus that assists driving of a vehicle and a method of controlling the driving assistance apparatus. Background Art

[0002] Vehicles are the most common means of transportation, and the number of people using vehicles is increasing. Due to the development of vehicle technology, there are advantages such as making long-distance transportation and life easier. However, in places with high population density, traffic congestion tends to become more serious as road traffic conditions deteriorate.

[0003] Advanced driver assistance systems (ADAS) are automated technologies that assist drivers in safely operating vehicles and improve safety and driving. For example, ADAS proactively provides information about vehicle status, driver status, and / or external environment to reduce the burden on the driver and improve convenience. Driver assistance systems are evolving into driving assistance systems or autonomous driving systems to assist not only the driver in driving, but also the driving of the vehicle or allow the vehicle to drive itself.

[0004] The driving assistance system can collect information about the external environment of the vehicle and process the collected information. In addition, the driving assistance system can recognize objects and design a route for the vehicle to travel based on the result of processing the collected information.

[0005] In addition, recently, interest in and research on environmentally friendly vehicles such as electric vehicles or hybrid vehicles are increasing. For example, an environmentally friendly vehicle may include a drive motor capable of driving the vehicle and a battery capable of supplying power to the drive motor, and energy may be recovered using the drive motor and the battery during braking of the vehicle. Therefore, braking a vehicle by converting the kinetic energy of the vehicle into electrical energy is called "regenerative braking."

[0006] Recently, in the field of vehicle-related technology, research on driving assistance systems or autonomous driving systems and environmentally friendly vehicles is being most actively conducted. Summary of the invention

[0007] One aspect of the present disclosure is to provide a driving assistance apparatus capable of controlling regenerative braking of a vehicle based on information about an environment around the vehicle, and a method of controlling the same.

[0008] According to an embodiment of the present disclosure, a driving assistance apparatus and a method of controlling the driving assistance apparatus may control regenerative braking of a vehicle based on information about an obstacle or an object interfering with travel of the vehicle.

[0009] According to another embodiment of the present disclosure, a driving assistance apparatus and a method of controlling the same may control regenerative braking of a vehicle based on information about traffic infrastructure such as traffic lights, road markings, or signs.

[0010] According to one aspect of the present disclosure, a driving assistance device includes a camera mounted on a vehicle and obtaining image data of the vehicle's surroundings and a processor that processes the image data. The processor obtains information about the position of an accelerator pedal of the vehicle and information about the position of a brake pedal of the vehicle, and when the accelerator pedal is at its original position and the brake pedal is at its original position, increases the coasting torque for regenerative braking in a driving device of the vehicle based on the image data.

[0011] When at least one of the accelerator pedal or the brake pedal is not at its original position, the processor may increase the preset value of the coasting torque based on the image data.

[0012] The processor may determine whether the vehicle will decelerate or brake based on the image data, and increase the coasting torque based on a determination of deceleration or braking of the vehicle.

[0013] The processor may restore the increased coasting torque.

[0014] The processor may determine a time of collision with a vehicle ahead of the vehicle based on the image data, and increase the coasting torque based on the determined time of collision with the vehicle ahead.

[0015] The processor may determine a distance to a preceding vehicle of the vehicle based on the image data, and increase the coasting torque based on the determined distance to the preceding vehicle.

[0016] The processor may identify an object in front of the vehicle based on the image data and increase the coasting torque based on the object in front of the vehicle, the object being at least one of a pedestrian, a cyclist, or an animal.

[0017] The processor may recognize a signal of a traffic light in front of the vehicle based on the image data, and increase the coasting torque based on that the signal of the traffic light is a stop signal.

[0018] The processor may identify a road marking printed on a road on which the vehicle is traveling based on the image data, and increase the slip torque based on the road marking being at least one of a stop sign, a crosswalk warning sign, a right turn sign, or a left turn sign.

[0019] The processor may identify a speed limit on a road on which the vehicle is traveling based on the image data, and increase the coasting torque based on a traveling speed of the vehicle being greater than the speed limit.

[0020] According to another aspect of the present disclosure, a method for controlling a driving assistance device including a camera mounted on a vehicle includes the following steps: obtaining image data around the vehicle from the camera; obtaining information about the position of an accelerator pedal of the vehicle and information about the position of a brake pedal of the vehicle; and increasing the coasting torque for regenerative braking in a driving device of the vehicle based on the image data when the accelerator pedal is at its original position and the brake pedal is at its original position.

[0021] The method may further include the step of increasing the preset value of the coasting torque based on the image data when at least one of the accelerator pedal or the brake pedal is not located at its original position.

[0022] Increasing the coasting torque may include determining whether the vehicle will decelerate or brake based on the image data, and increasing the coasting torque based on the determination of deceleration or braking of the vehicle.

[0023] The method may further include the step of restoring the increased coasting torque.

[0024] The increasing of the coasting torque may include determining a time of collision with a front vehicle of the vehicle based on the image data, and increasing the coasting torque based on the determined time of collision with the front vehicle.

[0025] The increasing of the coasting torque may include determining a distance to a preceding vehicle of the vehicle based on the image data, and increasing the coasting torque based on the determined distance to the preceding vehicle.

[0026] Increasing the coasting torque may include identifying an object in front of the vehicle based on the image data, and increasing the coasting torque based on the object in front of the vehicle being at least one of a pedestrian, a cyclist, or an animal.

[0027] The step of increasing the coasting torque may include recognizing a signal of a traffic light in front of the vehicle based on the image data, and increasing the coasting torque based on the signal of the traffic light being a stop signal.

[0028] Increasing the coasting torque may include identifying a road marking printed on a road on which the vehicle is traveling based on the image data, and increasing the coasting torque based on the road marking being at least one of a stop sign, a crosswalk warning sign, a right turn sign, or a left turn sign.

[0029] The step of increasing the coasting torque may include identifying a speed limit on a road on which the vehicle is traveling based on the image data, and increasing the coasting torque based on a traveling speed of the vehicle being greater than the speed limit. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] These and / or other aspects of the present disclosure will become apparent and more easily understood from the following description of embodiments in conjunction with the accompanying drawings, in which:

[0031] Figure 1 is a block diagram showing a configuration of a vehicle including a driving assistance apparatus according to one embodiment;

[0032] Figure 2 is a diagram showing a field of view of a sensor module included in a driving assistance device according to one embodiment;

[0033] Figure 3 is a flowchart showing a method of controlling a coasting torque for regenerative braking by a driving assistance apparatus according to one embodiment;

[0034] Figure 4 is a flowchart showing a method of controlling a coasting torque for regenerative braking by a driving assistance apparatus according to one embodiment;

[0035] Figure 5 is a flowchart showing a method for controlling the coasting torque to avoid a collision with a preceding vehicle by a driving assistance apparatus according to one embodiment;

[0036] Figure 6 is a diagram showing an example for avoiding a collision with a preceding vehicle by a driving assistance apparatus according to one embodiment;

[0037] Figure 7 is a flow chart showing a method for controlling the coasting torque to avoid a collision with a pedestrian, a cyclist or an animal by a driving assistance device according to one embodiment;

[0038] Figure 8 is a flowchart showing a method for controlling the coasting torque to comply with traffic regulations by a driving assistance device according to one embodiment;

[0039] Fig. 9 is a diagram showing an example for complying with traffic regulations by a driving assistance device according to an embodiment;

[0040] Fig.10 is a flowchart showing a method for controlling the coasting torque to change the driving direction by a driving assistance device according to one embodiment;

[0041] Fig.11 is a diagram showing an example for changing a traveling direction by a driving assistance device according to one embodiment;

[0042] Fig.12 is a flowchart showing a method of controlling coasting torque by recognizing a sign by a driving assistance device according to one embodiment;

[0043] Fig.13 is a flowchart showing a method of controlling coasting torque by recognizing a sign by a driving assistance device according to one embodiment;

[0044] Fig.14 is a flowchart showing a method of controlling a coasting torque based on a route to a destination by a driving assistance apparatus according to one embodiment;

[0045] Fig.15 is a flowchart showing a method of controlling coasting torque based on a speed limit by a driving assistance device according to one embodiment; and

[0046] Fig.16 is a flowchart illustrating a method of controlling a coasting torque based on a position of a traffic enforcement camera by a driving assistance apparatus according to one embodiment. DETAILED DESCRIPTION

[0047] The following detailed description is provided to help the reader gain a comprehensive understanding of the methods, devices, and / or systems described herein. Therefore, various changes, modifications, and equivalents of the methods, devices, and / or systems described herein will be suggested to those of ordinary skill in the art. The process of processing operations described is an example; however, the order of operations and / or operations is not limited to that set forth herein and may be changed as known in the art, except for operations that must occur in a specific order. In addition, for increased clarity and brevity, the corresponding descriptions of well-known functions and structures may be omitted.

[0048] Additionally, hereinafter, exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, exemplary embodiments may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the exemplary embodiments to those of ordinary skill in the art. The same reference numerals represent the same elements throughout.

[0049] It will be understood that although the terms first, second, etc. may be used to describe various elements in this article, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. As used herein, the term "and / or" includes any and all combinations of one or more of the related listed items.

[0050] It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intervening elements. Conversely, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements.

[0051] The terms used herein are for the purpose of describing particular embodiments only and are not intended to be limiting.As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0052] The expression "at least one of a, b, and c" should be understood as including only a, only b, only c, a and b, a and c, b and c, or all of a, b, and c.

[0053] Reference will now be made in detail to exemplary embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

[0054] Figure 1 is a block diagram showing a configuration of a vehicle including a driving assistance apparatus according to one embodiment. Figure 2 is a diagram illustrating a field of view of a sensor module included in a driving assistance apparatus according to one embodiment.

[0055] like Figure 1 As shown in , the vehicle 1 may include a navigation device 10, a driving device 20, a braking device 30, a steering device 40, a display device 50, an audio device 60, and / or a driving assistance device 100. The vehicle 1 may also include sensors 91, 92, and 93 for detecting the movement (dynamics) of the vehicle 1. For example, the vehicle 1 may include a vehicle speed sensor 91 for detecting the longitudinal speed of the vehicle 1, an acceleration sensor 92 for detecting the longitudinal acceleration and lateral acceleration of the vehicle 1, and / or a gyro sensor 93 for detecting the yaw rate, roll rate, and pitch rate of the vehicle 1.

[0056] The above components can communicate with each other through the vehicle communication network. For example, the electronic devices 10, 20, 30, 40, 50, 60, 91, 92, 93 and 100 included in the vehicle 1 can transmit or receive data to each other through Ethernet, media oriented system transport (MOST), FlexRay, controller area network (CAN), local interconnect network (LIN), etc.

[0057] The navigator or navigation device 10 may generate a route to a destination input by a driver, and provide and guide the driver with the generated route. The navigation device 10 may receive a global navigation satellite system (GNSS) signal from a GNSS, and identify the absolute position (coordinates) of the vehicle 1 based on the GNSS signal. The navigation device 10 may generate a route to the destination based on the position (coordinates) of the destination input by the driver and the current position (coordinates) of the vehicle 1.

[0058] The navigation device 10 may provide the driving assistance apparatus 100 with map data and position information of the vehicle 1. In addition, the navigation device 10 may provide the driving assistance apparatus 100 with information about a route to a destination. For example, the navigation device 10 may provide the driving assistance apparatus 100 with information about a distance to an entrance ramp to a new road or information about a distance to an exit ramp from a road on which the vehicle 1 is currently traveling.

[0059] The driving device 20 can provide power for driving the vehicle 1, for example, for driving or accelerating the vehicle 1 in response to the driver's intention transmitted by a request or command of the driving assistance device 100 or control of acceleration by a controller of the vehicle 1.

[0060] For example, the driving device 20 may include, but is not limited to, a motor as a driving source for moving the vehicle and a battery for supplying energy (eg, electrical energy) to the motor as the driving source. For example, an electric vehicle may include a motor as a driving source.

[0061] While the vehicle 1 is accelerating, the motor may receive power from the battery and convert the power (e.g., electrical energy) into rotational energy (e.g., kinetic energy). In addition, when the vehicle 1 is decelerating or braking, the motor may convert the rotational energy (e.g., kinetic energy) into power (e.g., electrical energy), and the converted power may be stored in the battery. In other words, the motor may perform regenerative braking for deceleration or braking.

[0062] However, the device for recovering energy is not limited to a motor. For example, the driving device 20 may also optionally include an AC generator. While the vehicle 1 is decelerating or braking, the AC generator may convert rotational energy (e.g., kinetic energy) into electricity (e.g., electrical energy). In other words, the AC generator may perform regenerative braking for decelerating or braking.

[0063] Alternatively or additionally, the driving device 20 may optionally include an internal combustion engine. For example, a hybrid vehicle may include both a motor and an internal combustion engine.

[0064] As described above, the driving device 20 may include only a motor or a motor and an internal combustion engine, drive the vehicle 1 or accelerate the vehicle 1 , and also decelerate or brake the vehicle 1 in some cases.

[0065] While the vehicle 1 is being driven, when the driver's intention to accelerate (eg, operation of an accelerator pedal) is not detected and the driver's intention to brake (eg, operation of a brake pedal) is not detected, the vehicle 1 may naturally decelerate.

[0066] In a conventional vehicle including an internal combustion engine, the vehicle decelerates naturally without additional control due to the inertia of the vehicle or the friction of the internal combustion engine of the vehicle. However, in an environmentally friendly vehicle including a motor as a driving source, regenerative braking can be used to achieve the natural deceleration generated in a conventional vehicle.

[0067] According to an embodiment of the present disclosure, while the vehicle 1 is being driven, when the driver's intention to accelerate (e.g., operation of the accelerator pedal) is not detected and the driver's intention to brake (e.g., operation of the brake pedal) is not detected, the driving device 20 can perform regenerative braking for natural deceleration of the vehicle 1. Therefore, driving the vehicle 1 when the driver does not intend to decelerate or brake (not necessarily including a neutral state) is referred to as "non-neutral coasting driving". In addition, the braking torque of the regenerative braking for natural deceleration of the vehicle 1 during non-neutral coasting driving is referred to as "coasting torque". The driving device 20 can control the amount of the coasting torque according to the driver's command, the command of the driving assistance device, etc.

[0068] The brake device 30 may provide a braking force for braking the vehicle 1 , for example, for decelerating or stopping the vehicle 1 , in response to the driver's intention to brake via the brake pedal and / or a request or command from the driving assistance device 100 .

[0069] The steering device 40 may change the driving direction of the vehicle 1 , for example, by steering the vehicle 1 in response to a driver's steering intention through a steering wheel and / or a request or command from the driving assistance apparatus 100 .

[0070] For example, the display device 50 may include, but is not limited to, a cluster, a head-up display, a central dashboard monitor, etc., and may output or provide various types of information and entertainment to the driver through images and sounds. For example, the display device 50 may display driving information, warning messages, etc. of the vehicle 1 to the driver.

[0071] The audio device 60 may include a plurality of speakers and provide various types of information and entertainment to the driver through sound. For example, the audio device 60 may provide the driver with driving information of the vehicle 1, warning messages or sounds, etc.

[0072] The driving assistance device 100 can communicate with the navigation device 10, the plurality of sensors 91, 92 and 93, the driving device 20, the braking device 30, the steering device 40, the display device 50 and the audio device 60 through the vehicle communication network. The driving assistance device 100 can receive information about the route to the destination and the position information of the vehicle 1 from the navigation device 10, and obtain information about the vehicle speed, acceleration and / or angular velocity of the vehicle 1 from the plurality of sensors 91, 92 and 93.

[0073] The driving assistance device 100 can provide the driver with various functions for safety. For example, the driving assistance device 100 can provide 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) functions, etc.

[0074] The driving assistance device 100 may include a camera 110, a radar 120, a laser radar 130, or a controller or control unit 140. The driving assistance device 100 is not limited to Figure 1 For example, Figure 1 The camera 110, the radar 120, the laser radar 130, and the control unit 140 shown in FIG. 1 do not correspond to the essential components of the driving assistance apparatus 100 and may be omitted. Figure 1 One or some of the components shown in .

[0075] The camera 110, the radar 120, the laser radar 130, or the control unit 140 may be separately provided. For example, the control unit 140 may be installed in a housing separate from the housing of the camera 110, the housing of the radar 120, and the housing of the laser radar 130. The control unit 140 may transmit data to or receive data from the camera 110, the radar 120, or the laser radar 130 through a vehicle communication network such as a broadband network.

[0076] In addition, at least some of the camera 110, the radar 120, the laser radar 130, or the control unit 140 may be integrally provided. For example, the camera 110 and the control unit 140 may be provided in a first housing, the radar 120 and the control unit 140 may be provided in a second housing, or the laser radar 130 and the control unit 140 may be provided in a third housing.

[0077] The camera 110 can capture images around the vehicle 1 and obtain image data around the vehicle 1. For example, Figure 2 As shown in , the camera 110 may be mounted on the front windshield of the vehicle 1 and have a forward field of view 110 a of the vehicle 1 .

[0078] For example, the camera 110 may include an image sensor and a plurality of lenses. The image sensor may include a plurality of photodiodes for converting light into electrical signals, and the plurality of photodiodes may be arranged in a two-dimensional matrix form.

[0079] The image data may include information about another vehicle, a pedestrian or a cyclist, lane markings (eg, markings that differentiate lanes), or traffic infrastructure surrounding the vehicle 1 .

[0080] The driving assistance apparatus 100 may include an image processor configured to process image data of the camera 110. For example, the image processor may be provided integrally with the camera 110, or integrally with the control unit 140.

[0081] The image processor may obtain image data from the image sensor of the camera 110 and identify objects around the vehicle 1 by processing the image data. For example, the image processor may generate a track representing objects around the vehicle 1 through image processing and classify the track. The image processor may identify whether the track belongs to another vehicle, a pedestrian, a cyclist, etc.

[0082] The image processor may transmit data on a trajectory around the vehicle 1 (or a position or classification of a trajectory, hereinafter referred to as a “camera trajectory”) to the control unit 140 .

[0083] The radar 120 may emit radio waves toward the surroundings of the vehicle 1 and detect objects around the vehicle 1 based on reflected radio waves reflected by the surrounding objects. Figure 2 As shown in , the radar 120 may be mounted on a grille or bumper of the vehicle 1 and may have a forward sensing field 120 a of the vehicle 1 .

[0084] The radar 120 may include a transmission antenna (or a transmission antenna array) configured to transmit radio waves toward the surroundings of the vehicle 1 and a reception antenna (or a reception antenna array) configured to receive reflected radio waves reflected by an object.

[0085] For example, the radar 120 may obtain radar data from radio waves transmitted by a transmission antenna and reflected radio waves received by a reception antenna. The radar data may include position information (eg, distance information) and / or speed information of an object located in front of the vehicle 1.

[0086] The driving assistance apparatus 100 may include a signal processor configured to process radar data of the radar 120. For example, the signal processor may be provided integrally with the radar 120, or integrally with the control unit 140.

[0087] The signal processor may obtain radar data from the receiving antenna of the radar 120, and may generate a track representing the object by clustering the reflection points of the reflected signal. For example, the signal processor may obtain the distance to the track based on the time difference between the transmission time of the transmitted radio wave and the reception time of the reflected radio wave, and obtain the relative speed of the track based on the difference between the frequency of the transmitted radio wave and the frequency of the reflected radio wave.

[0088] The signal processor may transmit data on a track around the vehicle 1 (or a distance to the track and a relative speed of the track, hereinafter referred to as a “radar track”) obtained from the radar data to the control unit 140 .

[0089] The laser radar 130 may emit light (eg, infrared light) toward the surroundings of the vehicle 1 and detect objects around the vehicle 1 based on reflected light reflected by the surrounding objects. Figure 2 As shown in , the laser radar 130 can be mounted on the roof of the vehicle 1 and can have a field of view 130a facing all directions around the vehicle 1.

[0090] The laser radar 130 may include a light source (e.g., a light emitting diode, a light emitting diode array, a laser diode, or a laser diode array) for emitting light (e.g., infrared light, etc.) and a light sensor (e.g., a photodiode or a photodiode array) for receiving light (e.g., infrared light, etc.). In addition, the laser radar 130 may also include a steering device or an actuator for rotating the light source and / or the light sensor as needed.

[0091] While the light source and / or the light sensor are rotating, the lidar 130 may emit light through the light source and receive light reflected by the object through the light sensor, thereby obtaining lidar data.

[0092] For example, the lidar data may include, but is not limited to, the relative positions (the distances and / or directions of the surrounding objects) and / or relative speeds of objects surrounding the vehicle 1 .

[0093] The driving assistance apparatus 100 may include a signal processor configured to process the laser radar data of the laser radar 130. For example, the signal processor may be provided integrally with the laser radar 130, or integrally with the control unit 140.

[0094] The signal processor can generate a trajectory representing an object by clustering the reflection points of the reflected light. For example, the signal processor can obtain the distance to the object based on the time difference between the light emission time and the light reception time. In addition, when the light sensor receives the reflected light based on the direction of the light source emitting light, the signal processor can obtain the direction (or angle) of the object relative to the driving direction of the vehicle 1.

[0095] The signal processor may transmit data on a trajectory around the vehicle 1 obtained from the lidar data (or a distance to the trajectory and a relative speed of the trajectory, hereinafter referred to as a “lidar trajectory”) to the control unit 140 .

[0096] The controller or control unit 140 may be electrically or communicatively connected to the camera 110, the radar 120, or the lidar 130. In addition, the control unit 140 may be connected to the navigation device 10, the driving device 20, the braking device 30, the steering device 40, the display device 50, the audio device 60, or the plurality of sensors 91, 92, and 93 via the vehicle communication network NT.

[0097] The control unit 140 can process data received from multiple sensors included in the vehicle 1, such as, but not limited to, camera tracks (or image data) of the camera 110, radar tracks (or radar data) of the radar 120 and / or lidar tracks (or lidar data) of the lidar 130, and provide control signals to the driving device 20, the braking device 30 and / or the steering device 40.

[0098] The control unit 140 may include a processor 141 and a memory 142 .

[0099] The memory 142 may store programs and / or data for processing image data, radar data, and / or lidar data. In addition, the memory 142 may store programs and / or data for generating driving, braking, and steering signals.

[0100] The memory 142 may store image data received from the camera 110 , radar data received from the radar 120 , and / or lidar data received from the lidar 130 , and store processing results of the image data, radar data, and / or lidar data performed by the processor 141 .

[0101] In addition, the memory 142 may store a high-definition (HD) map. The HD map may include detailed information about the surface of a road or an intersection, such as lane lines, signal lights, intersections, and road markings. In particular, in the HD map, road markings (e.g., lane lines, signals, intersections, road markings, etc.) encountered when the vehicle is traveling may be implemented in a three-dimensional manner.

[0102] The memory 142 may include not only volatile memories such as static random access memory (SRAM) and dynamic random access memory but also nonvolatile memories such as flash memory, read only memory (ROM), and erasable programmable ROM (EPROM).

[0103] The processor 141 may include an image processor configured to process image data of the camera 110, a signal processor configured to process radar data of the radar 120 and / or lidar data of the lidar 130, or a microcontroller unit (MCU) configured to generate driving, braking and / or steering signals. However, if necessary, two or more of the image processor, the signal processor and the MCU may be integrated into one processor.

[0104] The processor 141 may process the camera track of the camera 110, the radar track of the radar 120, and / or the lidar track of the lidar 130. For example, the processor 141 may fuse the camera track, the radar track, or the lidar track, and output the fused track.

[0105] The processor 141 may generate a driving signal, a braking signal, and / or a steering signal for controlling the driving device 20, the braking device 30, and / or the steering device 40, respectively, based on processing the camera trajectory, the radar trajectory, the lidar trajectory, or the fused trajectory. For example, the processor 141 may estimate the collision risk between the trajectory and the vehicle 1. The processor 141 may control the driving device 20, the braking device 30, and / or the steering device 40 based on the collision risk between the trajectory and the vehicle 1 to brake or steer the vehicle 1.

[0106] The processor 141 may obtain information about the driver's acceleration intention and / or information about the driver's braking intention from the driving device 20 and / or the braking device 30. Specifically, the processor 141 may obtain information about the position and movement of the accelerator pedal from the driving device 20, and obtain information about the position or movement of the brake pedal from the braking device 30.

[0107] The processor 141 may control the driving device 20 based on the position or movement of the accelerator pedal and / or the brake pedal to regeneratively brake the vehicle 1. For example, when the accelerator pedal is not moved from its original position and the brake pedal is not moved from its original position, the processor 141 may control the driving device 20 to generate a sliding torque for regenerative braking of the vehicle 1.

[0108] The processor 141 can obtain information about objects and information about traffic infrastructure around the vehicle 1 based on processing of the camera trajectory, radar trajectory, lidar trajectory or fused trajectory, and can control the driving device 20 based on the information about the objects and information about traffic infrastructure around the vehicle 1 to adjust the amount of sliding torque used for regenerative braking of the vehicle 1.

[0109] For example, when the preceding vehicle decelerates or stops, the processor 141 may control the driving device 20 to increase the amount of the coasting torque for the regenerative braking of the vehicle 1. When the estimated time of collision with the preceding vehicle is less than the reference time, the processor 141 may control the driving device 20 to increase the amount of the coasting torque for the regenerative braking of the vehicle 1.

[0110] As another example, when a pedestrian, cyclist, or animal is detected moving in front of the vehicle 1 toward the driving path of the vehicle 1, the processor 141 may control the driving device 20 to increase the amount of coasting torque for regenerative braking of the vehicle 1. When the moving path of the pedestrian, cyclist, or animal in front of the vehicle 1 intersects the driving path of the vehicle 1, the processor 141 may control the driving device 20 to increase the amount of coasting torque for regenerative braking of the vehicle 1.

[0111] As another example, when a traffic signal of a traffic light requiring vehicle 1 to stop and a stop sign (or stop line) of a road are detected in front of vehicle 1, the processor 141 may control the driving device 20 to increase the amount of the sliding torque for regenerative braking of vehicle 1. For example, the traffic signal of the traffic light requiring vehicle 1 to stop may be, but is not limited to, a red light or a stop signal light (e.g., a flashing red light). When a traffic signal of a traffic light requiring vehicle 1 to stop and a stop sign of a road are detected in front of vehicle 1 and it is predicted that vehicle 1 will pass through the stop sign, the processor 141 may control the driving device 20 to increase the amount of the sliding torque for regenerative braking of vehicle 1. In addition, when a pedestrian crossing warning sign is detected in front of vehicle 1, the processor 141 may control the driving device 20 to increase the amount of the sliding torque for regenerative braking of vehicle 1.

[0112] As another example, when a road marking for a right turn (in right-hand drive countries) or a left turn (in left-hand drive countries) is detected in front of the vehicle 1, the processor 141 can control the driving device 20 to increase the amount of coasting torque for regenerative braking of the vehicle 1.

[0113] As another example, when a road sign for deceleration is detected in front of the vehicle 1 , the processor 141 may control the driving device 20 to increase the amount of coasting torque for regenerative braking of the vehicle 1 .

[0114] As another example, when a speed limit sign is detected in front of the vehicle 1, the processor 141 may control the driving device 20 to increase the amount of coasting torque for regenerative braking of the vehicle 1. For example, when the driving speed of the vehicle 1 is greater than the speed limit indicated by the detected sign in front of the vehicle 1, the processor 141 may control the driving device 20 to increase the amount of coasting torque for regenerative braking of the vehicle 1.

[0115] As another example, when a sign indicating a school zone is detected in front of the vehicle 1 , the processor 141 may control the driving device 20 to increase the amount of coasting torque used for regenerative braking of the vehicle 1 .

[0116] The processor 141 may obtain information about a route to a destination, speed limits on the route, and / or the location of traffic enforcement cameras from the navigation device 10, and control the driving device 20 to adjust the amount of coasting torque used for regenerative braking of the vehicle 1 based on the route to the destination and the speed limits on the route.

[0117] For example, when the route to the destination obtained from the navigation device 10 includes a direction change (e.g., a left turn or a right turn) ahead of the driving route of the vehicle 1, the processor 141 can control the driving device 20 to increase the amount of coasting torque used for regenerative braking of the vehicle 1.

[0118] As another example, the processor 141 may control the driving device 20 to increase the amount of coasting torque for regenerative braking of the vehicle 1 based on the speed limit on the route obtained from the navigation device 10. When the travel speed of the vehicle 1 is greater than the speed limit on the route obtained from the navigation device 10, the processor 141 may control the driving device 20 to increase the amount of coasting torque for regenerative braking of the vehicle 1.

[0119] As another example, when the distance to the traffic enforcement camera obtained from the navigation device 10 is less than a reference distance, the processor 141 may control the driving device 20 to increase the amount of coasting torque for regenerative braking of the vehicle 1 .

[0120] As described above, the control unit 140 may provide a driving signal, a braking signal, or a turning signal based on the image data of the camera 110 , the radar data of the radar 120 , or the lidar data of the lidar 130 .

[0121] Hereinafter, an exemplary embodiment will be described in which the driving assistance apparatus 100 controls the coasting torque for regenerative braking of the vehicle 1 when the driver has no intention of accelerating or braking.

[0122] Figure 3 is a flowchart illustrating a method of controlling coasting torque for regenerative braking by a driving assistance apparatus according to one embodiment.

[0123] Will refer to Figure 3 A method 1000 for controlling the coasting torque for regenerative braking of the vehicle 1 by the driving assistance device 100 is described. However, Figure 3 One or more operations shown in FIG. 1000 may not be necessary for method 1000 and may be omitted. Figure 3 One or some of the operations shown in .

[0124] In operation 1010 , the driving assistance apparatus 100 may obtain information about the position and / or movement of an accelerator pedal and / or a brake pedal of the vehicle 1 .

[0125] The driving device 20 of the vehicle 1 may detect the movement of the accelerator pedal by the driver and / or the position of the accelerator pedal. For example, the driving device 20 may detect the displacement speed of the accelerator pedal moved by the driver and / or the position of the accelerator pedal.

[0126] The driving device 20 may provide information about the position and / or movement of the accelerator pedal through the vehicle communication network. The driving assistance device 100 may receive information about the position and / or movement of the accelerator pedal through the vehicle communication network. The driving assistance device 100 may identify whether the driver moves the accelerator pedal based on the information about the position and / or movement of the accelerator pedal, i.e., whether the driver intends to accelerate.

[0127] The brake device 30 of the vehicle 1 can detect the movement of the brake pedal by the driver and / or the position of the brake pedal. For example, the driving device 20 can detect the displacement speed of the brake pedal moved by the driver and / or the position of the brake pedal.

[0128] The brake device 30 may provide information about the position and / or movement of the brake pedal via the vehicle communication network. The driving assistance device 100 may receive information about the position and / or movement of the brake pedal via the vehicle communication network. The driving assistance device 100 may identify whether the driver has moved the brake pedal based on the information about the position and / or movement of the brake pedal, i.e., whether the driver intends to brake.

[0129] In operation 1020 , the driving assistance apparatus 100 may identify whether the accelerator pedal and the brake pedal are located at their original positions (eg, positions of the pedals that are not pressed by the driver).

[0130] The control unit 140 of the driving assistance apparatus 100 may obtain information about the position and / or movement of the accelerator pedal and / or the brake pedal through the vehicle communication network.

[0131] The control unit 140 can identify whether the accelerator pedal is in its original position (e.g., unpressed position) based on the information about the position and / or movement of the accelerator pedal, i.e., whether the driver intends to accelerate. In addition, the control unit 140 can identify whether the brake pedal is in its original position (e.g., unpressed position) based on the information about the position and / or movement of the brake pedal, i.e., whether the driver intends to brake.

[0132] When at least one of the accelerator pedal or the brake pedal is not located at its original position (“NO” in operation 1020 ), the driving assistance apparatus 100 may again perform operation 1010 of obtaining information on the position and / or movement of the accelerator pedal and / or the brake pedal.

[0133] When the accelerator pedal is not in its original position, that is, when the accelerator pedal moves, the control unit 140 can identify that the driver intends to accelerate. In addition, when the brake pedal is not in its original position, that is, when the brake pedal moves, the control unit 140 can identify that the driver intends to brake.

[0134] When at least one of the driver's acceleration intention or braking intention is recognized, the driving assistance apparatus 100 may not intervene in the driving of the vehicle 1 .

[0135] In operation 1030 , when both the accelerator pedal and the brake pedal are located at their original positions (“YES” in operation 1020 ), the driving assistance apparatus 100 may control the driving device 20 to perform regenerative braking.

[0136] When the accelerator pedal was in its home position, that is, when the accelerator pedal did not move, the control unit 140 can identify that the driver does not intend to accelerate. In addition, when the brake pedal was in its home position, that is, when the brake pedal did not move, the control unit 140 can identify that the driver does not intend to brake.

[0137] When recognizing that the driver does not intend to accelerate or brake, the driving assistance apparatus 100 may control the driving device 20 to perform regenerative braking, thereby naturally decelerating the vehicle 1. In other words, the driving assistance apparatus 100 may control the driving device 20 to generate a coasting torque for implementing engine braking.

[0138] The battery can be charged by such regenerative braking, so that the fuel efficiency or electrical efficiency of the vehicle 1 can be improved.

[0139] In operation 1040 , the driving assistance apparatus 100 may obtain information about objects and / or traffic infrastructure around the vehicle 1 while controlling the driving device 20 to perform regenerative braking.

[0140] The control unit 140 may obtain information about objects and / or traffic infrastructure around the vehicle 1 through the camera 110 , the radar 120 , and / or the lidar 130 .

[0141] For example, the control unit 140 can obtain image data, radar data and / or laser radar data around the vehicle 1 through the camera 110, the radar 120 and / or the laser radar 130. The control unit 140 can generate an image track, a radar track and / or a laser radar track of surrounding objects by processing the image data, the radar data and / or the laser radar data. The surrounding objects may include another vehicle, a pedestrian, a cyclist, an animal, etc. The control unit 140 can generate a fused track based on fusing the image track, the radar track and / or the laser radar track. The driving assistance device 100 can identify the position and speed of the object based on the position and speed of the fused track.

[0142] The control unit 140 can recognize traffic infrastructure such as traffic lights, signs, road markings, etc. located around the vehicle 1 based on processing image data around the vehicle 1. For example, the control unit 140 can recognize the green, red, and yellow colors of the traffic lights. The control unit 140 can recognize speed limit signs, school zones, etc., and can also recognize the speed limit indicated by the speed limit sign. The control unit 140 can recognize lane markings, stop signs, pedestrian crossing warning signs, right turn signs, and any markings printed on the road.

[0143] In operation 1050 , the driving assistance apparatus 100 may identify whether braking or deceleration of the vehicle 1 is predicted or required.

[0144] The control unit 140 may identify whether braking or deceleration of the vehicle 1 is predicted or required based on the information about the object and / or the information about the traffic infrastructure.

[0145] For example, when a collision with another vehicle, pedestrian, cyclist, animal, etc. in front of the vehicle 1 is predicted, the control unit 140 may determine that braking or deceleration of the vehicle 1 is predicted or required. When a traffic signal of a traffic light that requires the vehicle 1 to stop and a stop sign on the road are identified in front of the vehicle 1, the control unit 140 may determine that braking or deceleration of the vehicle 1 is required. When a crosswalk warning sign is identified in front of the vehicle 1, the control unit 140 may determine that deceleration of the vehicle 1 is required. When a speed limit sign or a school zone sign is identified in front of the vehicle 1, the control unit 140 may determine that deceleration of the vehicle 1 is required. In addition, when a right turn sign (or left turn sign) is identified on the road in front of the vehicle 1, the control unit 140 may determine that deceleration of the vehicle 1 is required.

[0146] When braking or deceleration of the vehicle 1 is not predicted or required (“NO” in operation 1050 ), the driving assistance apparatus 100 may again perform operation 1040 of obtaining information about objects and / or traffic infrastructure around the vehicle 1 .

[0147] When braking or deceleration of the vehicle 1 is not predicted or required, the driving assistance apparatus 100 may control the driving device 20 to continue regenerative braking with a predetermined amount of coasting torque.

[0148] In operation 1060 , when it is identified that braking or deceleration of the vehicle 1 is predicted or required (“YES” in operation 1050 ), the driving assistance apparatus 100 increases the coasting torque for regenerative braking.

[0149] The driving assistance device 100 can increase the coasting torque (or the level of the coasting torque) for regenerative braking to avoid collision with objects around the vehicle 1, comply with traffic regulations, or make safe direction changes. Therefore, the deceleration rate can be increased by regenerative braking, thereby quickly performing braking or deceleration of the vehicle 1.

[0150] Furthermore, in order to prevent, suppress or minimize a sudden change in braking torque during travel of the vehicle 1 without the driver's intention to accelerate or brake, the driving assistance apparatus 100 may linearly, gradually or slowly increase the coasting torque for regenerative braking.

[0151] After the coasting torque increases, the driving assistance device 100 may obtain information about objects and / or traffic infrastructure around the vehicle 1. In addition, the driving assistance device 100 may identify whether braking or deceleration of the vehicle 1 is predicted or required. When braking or deceleration of the vehicle 1 is not predicted or required after the coasting torque increases, the driving assistance device 100 may reduce the coasting torque. For example, the driving assistance device 100 may linearly, gradually, or slowly reduce the coasting torque for regenerative braking.

[0152] As described above, when recognizing that braking or deceleration of vehicle 1 is predicted or required during travel of vehicle 1 without the driver's intention to accelerate or brake (e.g., non-neutral coasting driving), driving assistance device 100 can increase coasting torque for regenerative braking.

[0153] Therefore, the vehicle 1 can be braked or decelerated faster, and the fuel efficiency or electrical efficiency of the vehicle 1 can be improved.

[0154] Figure 4 is a flowchart illustrating a method of controlling coasting torque for regenerative braking by a driving assistance apparatus according to one embodiment.

[0155] Will refer to Figure 4A method 1100 for controlling the coasting torque for regenerative braking of the vehicle 1 by the driving assistance device 100 is described. However, Figure 4 One or more operations shown in FIG. 1100 may not be necessary for method 1100 and may be omitted. Figure 4 One or some of the operations shown in .

[0156] In operation 1110 , the driving assistance apparatus 100 may obtain information about objects and / or traffic infrastructure around the vehicle 1 , and in operation 1120 , the driving assistance apparatus 100 may identify whether braking or deceleration of the vehicle 1 is predicted or required.

[0157] Operation 1110 and operation 1120 may be respectively Figure 3 Operation 1040 and operation 1050 shown in FIG. 1 are the same or similar.

[0158] In operation 1130 , when it is identified that braking or deceleration of the vehicle 1 is predicted or required (“YES” in operation 1120 ), the driving assistance apparatus 100 may increase the level of the coasting torque for regenerative braking ( 1130 ).

[0159] The control unit 140 of the driving assistance device 100 can increase the coasting torque before the vehicle 1 is driven when the driver has no intention to accelerate or brake (for example, before non-neutral coasting travel). In other words, the control unit 140 can increase the preset value of the coasting torque for non-neutral coasting travel. Therefore, as the preset value of the coasting torque increases, the deceleration rate can be increased due to regenerative braking during non-neutral coasting travel, and braking or deceleration of the vehicle 1 can be performed quickly.

[0160] In addition, after the coasting torque is increased, the driving assistance device 100 may obtain information about objects and / or traffic infrastructure around the vehicle 1. The driving assistance device 100 may identify whether braking or deceleration of the vehicle 1 is predicted or required. After the coasting torque is increased, when braking or deceleration of the vehicle 1 is not predicted or required, the driving assistance device 100 may reduce a preset value of the coasting torque level, that is, the coasting torque.

[0161] After the coasting torque is increased in operation 1130, in operation 1140, the driving assistance device 100 can obtain information about the position and / or movement of the accelerator pedal and / or brake pedal of the vehicle 1, and in operation 1150, it can be identified whether the accelerator pedal and the brake pedal are in their original positions (e.g., positions where the driver is not pressing the pedals).

[0162] Operation 1140 and operation 1150 may be respectively Figure 3 Operation 1010 and operation 1020 shown in FIG. 1 are the same or similar.

[0163] In operation 1160 , when both the accelerator pedal and the brake pedal are located at their original positions (“YES” in operation 1150 ), the driving assistance apparatus 100 may control the driving device 20 to perform regenerative braking.

[0164] When recognizing that the driver does not intend to accelerate or brake, the driving assistance apparatus 100 may control the driving device 20 to perform regenerative braking, thereby causing the vehicle 1 to naturally decelerate.

[0165] In this case, the driving assistance apparatus 100 may control the driving device 20 to perform regenerative braking with a coasting torque greater than a basic coasting torque (e.g., a preset normal coasting torque). During non-neutral coasting travel, the driving device 20 may perform regenerative braking with an increased coasting torque in operation 1130. Therefore, due to the regenerative braking, the deceleration rate may be increased, thereby quickly performing braking or deceleration of the vehicle 1.

[0166] As described above, when it is recognized that braking or deceleration of the vehicle 1 is predicted or required while the non-neutral coasting travel is not performed, the driving assistance device 100 can start applying and increasing the coasting torque for regenerative braking. Then, when the non-neutral coasting travel starts, the driving device 20 can perform regenerative braking with the coasting torque increased by the driving assistance device 100.

[0167] Therefore, the vehicle 1 can be braked or decelerated faster, and the fuel efficiency or electrical efficiency of the vehicle 1 can be improved.

[0168] Figure 5 is a flowchart illustrating a method of controlling coasting torque to avoid a collision with a preceding vehicle by a driving assistance apparatus according to one embodiment. Figure 6 is a diagram showing an example for avoiding a collision with a preceding vehicle by a driving assistance apparatus according to one embodiment.

[0169] Will refer to Figure 5 and Figure 6 A method 1200 for controlling the coasting torque by the driving assistance device 100 to avoid a collision with the preceding vehicle 2 is described. However, Figure 5 One or more operations shown in FIG. 1200 may not be necessary for method 1200 and may be omitted. Figure 5 One or some of the operations shown in .

[0170] In operation 1210 , the driving assistance apparatus 100 may obtain a distance D from the host vehicle 1 to the front vehicle 2 and / or a relative speed V of the front vehicle 2 with respect to the host vehicle 1 .

[0171] The control unit 140 of the driving assistance device 100 can obtain information about objects around the vehicle 1 through the camera 110, the radar 120 and / or the laser radar 130. For example, the control unit 140 can identify whether the surrounding object is another vehicle based on the image data or the radar data. In addition, the control unit 140 can identify the distance D from the vehicle 1 to the surrounding object and the relative speed V of the surrounding object relative to the vehicle 1 based on the radar data obtained from the radar 120.

[0172] Furthermore, the control unit 140 may recognize a lane marking on the road on which the vehicle 1 is traveling based on the image data obtained from the camera 110. In other words, the driving assistance apparatus 100 may recognize the position of the lane marking on the road.

[0173] The control unit 140 can identify whether the other vehicle is the preceding vehicle 2 traveling in the same lane as the vehicle 1 based on the position of the other vehicle and the position of the lane marking. Figure 6 As shown in , the control unit 140 may identify a distance D from the host vehicle 1 to the front vehicle 2 and / or a relative speed V of the front vehicle 2 relative to the host vehicle 1 .

[0174] In operation 1220 , the driving assistance apparatus 100 may identify whether a predicted time of collision with the preceding vehicle 2 is shorter than a reference time.

[0175] The control unit 140 may predict the time of collision with the front vehicle 2 based on the distance D from the host vehicle 1 to the front vehicle 2 and the relative speed V of the front vehicle 2 relative to the host vehicle 1. For example, the control unit 140 may predict the time of collision with the front vehicle 2 based on the quotient obtained by dividing the distance D from the host vehicle 1 to the front vehicle 2 by the relative speed V of the front vehicle 2 relative to the host vehicle 1.

[0176] The control unit 140 may compare the predicted time of collision with the preceding vehicle 2 with a reference time. The reference time may be a time for avoiding collision with the preceding vehicle 2 during non-neutral coasting travel. For example, the reference time may be set based on experience or experiment.

[0177] When the predicted time of collision with the front vehicle 2 is not shorter than the reference time ('No' in operation 1220 ), the driving assistance apparatus 100 may continue to perform operation 1210 of monitoring the distance D from the host vehicle 1 to the front vehicle 2 and the relative speed V of the front vehicle 2 relative to the host vehicle 1 .

[0178] In operation 1230 , when the predicted time of collision with the preceding vehicle 2 is shorter than the reference time (“YES” in operation 1220 ), the driving assistance apparatus 100 may increase the coasting torque for regenerative braking.

[0179] When the predicted time of collision with the preceding vehicle 2 is shorter than the reference time, a collision between the vehicle 1 and the preceding vehicle 2 may be predicted. The control unit 140 may increase the coasting torque (or coasting torque level) for regenerative braking to avoid the collision between the vehicle 1 and the preceding vehicle 2.

[0180] When the vehicle 1 is performing non-neutral coasting, the driving assistance device 100 can linearly, gradually or slowly increase the coasting torque for regenerative braking. In addition, when the vehicle 1 is not performing non-neutral coasting, the driving assistance device 100 can increase the preset value of the coasting torque for regenerative braking.

[0181] Therefore, the possibility of collision with the preceding vehicle 2 can be reduced, and the fuel efficiency or electrical efficiency of the vehicle 1 can be improved.

[0182] When the predicted time of collision with the preceding vehicle 2 becomes not shorter than the reference time after the coasting torque is increased, the driving assistance apparatus 100 may reduce the coasting torque for regenerative braking.

[0183] Already referred to Figure 5 and Figure 6 A method of controlling the coasting torque for regenerative braking based on the predicted time of collision with the preceding vehicle by the driving assistance apparatus 100 is described, but the present invention is not limited thereto.

[0184] The driving assistance device 100 may control the coasting torque for regenerative braking based on the distance D from the main vehicle 1 to the front vehicle 2 and / or the relative speed V of the front vehicle 2 relative to the main vehicle 1. For example, when the distance D from the main vehicle 1 to the front vehicle 2 is shorter than the reference distance, the driving assistance device 100 may increase the coasting torque for regenerative braking. When the relative speed V of the front vehicle 2 relative to the main vehicle 1 is less than the reference speed, the driving assistance device 100 may increase the coasting torque for regenerative braking. In addition, when the relative speed V of the front vehicle 2 relative to the main vehicle 1 decreases, the driving assistance device 100 may increase the coasting torque for regenerative braking.

[0185] Figure 7 is a flow chart showing a method of controlling the coasting torque to avoid a collision with a pedestrian, a cyclist or an animal by a driving assistance apparatus according to one embodiment.

[0186] Will refer to Figure 7 A method 1300 for controlling the coasting torque by the driving assistance device 100 to avoid collisions with pedestrians, cyclists, or animals is described. However, Figure 7 One or more operations shown in FIG. 1300 may not be necessary for method 1300 and may be omitted. Figure 7 One or some of the operations shown in .

[0187] In operation 1310 , the driving assistance apparatus 100 may obtain the position and / or speed of a pedestrian, a cyclist, or an animal.

[0188] The control unit 140 of the driving assistance device 100 can obtain information about objects around the vehicle 1 through the camera 110, the radar 120 and / or the laser radar 130. For example, the control unit 140 can identify whether the surrounding objects are pedestrians, cyclists or animals based on image data or radar data. In addition, the control unit 140 can identify the position and / or speed of objects around the vehicle 1 based on the radar data obtained from the radar 120.

[0189] In operation 1320 , the driving assistance apparatus 100 may identify whether a moving path of a pedestrian, a cyclist, or an animal intersects with a driving path of the vehicle 1 .

[0190] The control unit 140 may determine the travel path of the vehicle 1 based on the position and speed of the vehicle 1. In addition, the control unit 140 may determine the movement path of the pedestrian, cyclist or animal based on the position and speed of the pedestrian, cyclist or animal.

[0191] The control unit 140 may compare the driving path of the vehicle 1 with the moving path of a pedestrian, a cyclist, or an animal, and identify whether the moving path of the pedestrian, the cyclist, or the animal intersects with the driving path of the vehicle 1 .

[0192] When the moving path of the pedestrian, cyclist, or animal does not intersect the driving path of the vehicle 1 (“No” in operation 1320 ), the driving assistance apparatus 100 may continue to monitor the position and / or speed of the pedestrian, cyclist, or animal.

[0193] In operation 1330 , when the moving path of the pedestrian, cyclist, or animal intersects the driving path of the vehicle 1 (“YES” in operation 1320 ), the driving assistance apparatus 100 may increase the coasting torque for regenerative braking.

[0194] Operation 1330 can be performed with Figure 5 The operation 1230 shown in FIG. 1 is the same or similar. The control unit 140 can increase the coasting torque (or the coasting torque level) for regenerative braking to avoid collision with pedestrians, cyclists, or animals. Therefore, the vehicle 1 can avoid collision with pedestrians, cyclists, or animals, and the fuel efficiency or electrical efficiency of the vehicle 1 can be improved.

[0195] When the moving path of the pedestrian, cyclist, or animal does not intersect the travel path of the vehicle 1 after the coasting torque is increased, the driving assistance apparatus 100 may reduce the coasting torque for regenerative braking.

[0196] Already referred to Figure 7 A method of controlling the coasting torque for regenerative braking by the driving assistance apparatus 100 based on whether the moving path of a pedestrian, a cyclist, or an animal intersects the traveling path of the vehicle 1 is described, but the present invention is not limited thereto.

[0197] According to some embodiments of the present disclosure, the driving assistance device 100 may control the sliding torque for regenerative braking based on the position and / or speed of the pedestrian, cyclist, or animal. For example, when the distance to the pedestrian, cyclist, or animal is shorter than a reference distance, the driving assistance device 100 may increase the sliding torque for regenerative braking. When the speed of the pedestrian, cyclist, or animal is greater than a reference speed, the driving assistance device 100 may increase the sliding torque for regenerative braking.

[0198] Figure 8 is a flowchart illustrating a method of controlling the coasting torque to comply with traffic regulations by a driving assistance apparatus according to one embodiment. Fig. 9 is a diagram showing an example for complying with traffic regulations by a driving assistance apparatus according to an embodiment.

[0199] Will refer to Figure 8 and Fig. 9 A method 1400 for controlling the coasting torque by the driving assistance device 100 to comply with traffic regulations is described. However, Figure 8 One or more of the operations shown in FIG. 1400 may not be necessary for method 1400 and may be omitted. Figure 8 One or some of the operations shown in .

[0200] In operation 1410 , the driving assistance apparatus 100 may obtain information about the traffic light 4 , the stop sign 3 , the crosswalk warning sign 7 , or the crosswalk 5 in front of the vehicle 1 .

[0201] The control unit 140 of the driving assistance device 100 can obtain information about the traffic infrastructure around the vehicle 1 through one or more sensors (e.g., the camera 110, the radar 120, and / or the laser radar 130) included in the vehicle 1. For example, the control unit 140 can recognize the traffic light 4, the stop sign 3, the pedestrian crossing warning sign 7, or the pedestrian crossing 5 around the vehicle 1 based on the image data. In addition, the control unit 140 can recognize the traffic signal indicated on the traffic light 4 based on the image data. The control unit 140 can recognize the distance from the vehicle 1 to the stop sign 3 and / or the pedestrian crossing 5.

[0202] In operation 1420 , the driving assistance apparatus 100 may identify whether the traffic signal of the traffic light 4 is red or yellow.

[0203] The control unit 140 can recognize whether the traffic signal of the traffic light 4 is red or yellow based on the image data of the camera 110. Fig. 9 As shown in , the control unit 140 can distinguish the image of the traffic light 4 based on the image data of the camera 110. The control unit 140 can recognize whether the traffic signal of the traffic light is red or yellow based on the color data in the image of the traffic light 4.

[0204] When the traffic signal of the traffic light 4 is not red or yellow (No in operation 1420 ), the driving assistance device 100 may again perform operation 1410 of obtaining information about the traffic light 4 , the stop sign 3 , the crosswalk warning sign 7 , or the crosswalk 5 in front of the vehicle 1 .

[0205] In operation 1430 , when the signal of the traffic light 4 is red or yellow (YES in operation 1420 ), the driving assistance apparatus 100 may identify whether the braking distance of the vehicle 1 is shorter than the distance to the stop sign 3 and / or the crosswalk 5 .

[0206] The control unit 140 may calculate the braking distance of the vehicle 1 based on the acceleration (or deceleration) and / or the driving speed of the vehicle 1. For example, the control unit 140 may obtain information about the acceleration (or deceleration) and / or the driving speed of the vehicle 1 from the vehicle speed sensor 91, and obtain the braking distance of the vehicle 1 based on the information.

[0207] like Fig. 9 As shown in , control unit 140 can distinguish the image of stop sign 3 and / or crosswalk 5 from the image data of camera 110. Control unit 140 can calculate the distance to stop sign 3 or crosswalk 5 based on the size and / or position of the image of stop sign 3 and / or crosswalk 5.

[0208] The control unit 140 may compare the braking distance of the vehicle 1 with the distance from the stop sign 3 and / or the crosswalk 5 , and may identify whether the braking distance of the vehicle 1 is shorter than the distance from the stop sign 3 and / or the crosswalk 5 .

[0209] When the braking distance of the vehicle 1 is not shorter than the distance to the stop sign 3 and / or the crosswalk 5 ('No' in operation 1430 ), the driving assistance device 100 may again perform operation 1410 of obtaining information about the traffic light 4 , the stop sign 3 , and the crosswalk 5 in front of the vehicle 1 .

[0210] In operation 1440 , when the braking distance of the vehicle 1 is shorter than the distance to the stop sign 3 and / or the crosswalk 5 (“YES” in operation 1430 ), the driving assistance apparatus 100 may increase the coasting torque for regenerative braking.

[0211] Operation 1440 may be performed with Figure 5 When the braking distance of vehicle 1 is less than the distance to stop sign 3 and / or crosswalk 5, it is predicted that vehicle 1 will pass stop sign 3 and / or enter crosswalk 5. Control unit 140 may increase the coasting torque (or coasting torque level) for regenerative braking to avoid passing stop sign 3 and / or entering crosswalk 5. Therefore, passing stop sign 3 and / or entering crosswalk 5 may be avoided, and the fuel efficiency or electrical efficiency of vehicle 1 may be improved.

[0212] When the braking distance of the vehicle 1 is not shorter than the distance to the stop sign 3 and / or the crosswalk 5 after the coasting torque is increased, the driving assistance apparatus 100 may reduce the coasting torque for regenerative braking.

[0213] Already referred to Figure 8 and Fig. 9 A method of controlling the coasting torque for regenerative braking based on the braking distance of the vehicle 1 by the driving assistance apparatus 100 is described, but the present invention is not limited thereto.

[0214] According to certain embodiments of the present disclosure, the driving assistance device 100 may control the sliding torque for regenerative braking based on the traffic light 4, the stop sign 3, the crosswalk warning sign 7, and / or the crosswalk 5. For example, when the traffic light 4, the stop sign 3, the crosswalk warning sign 7, and / or the crosswalk 5 are detected, the driving assistance device 100 may increase the sliding torque for regenerative braking. In addition, when the signal of the traffic light 4 is red or yellow, the driving assistance device 100 may increase the sliding torque for regenerative braking.

[0215] Fig.10 is a flowchart illustrating a method of controlling coasting torque to change a driving direction by a driving assistance apparatus according to one embodiment. Fig.11 : is a diagram showing an example for changing the traveling direction by a driving assistance apparatus according to one embodiment.

[0216] Will refer to Fig.10 and Fig.11 A method 1500 for controlling the coasting torque by the driving assistance device 100 to change the driving direction of the vehicle 1 is described. However, Fig.10 One or more of the operations shown in FIG. 1500 may not be necessary for method 1500 and may be omitted. Fig.10 One or some of the operations shown in .

[0217] In operation 1510 , the driving assistance apparatus 100 may obtain information about a road sign 6 in front of the vehicle 1 .

[0218] The control unit 140 of the driving assistance apparatus 100 may obtain information about the road marking 6 in front of the vehicle 1 through the camera 110, the radar 120, and / or the laser radar 130. For example, the control unit 140 may recognize the road marking 6 around the vehicle 1 based on the image data.

[0219] In operation 1520 , the driving assistance apparatus 100 may identify whether the road sign 6 is a sign for a right turn (or a left turn).

[0220] The control unit 140 may identify whether the road sign 6 is a sign for a right turn (or a left turn) based on the image data of the camera 110. Fig.11 As shown in , the control unit 140 can identify whether the road sign 6 is a sign for a right turn (or a left turn) by extracting an image of the road sign 6 from the image data of the camera 110 and using image processing, machine learning, etc.

[0221] When the road sign 6 is not a sign for a right turn (or a left turn) (No in operation 1520 ), the driving assistance apparatus 100 may continue to perform operation 1510 of obtaining information on the road sign 6 ahead of the vehicle 1 .

[0222] In operation 1530 , when the road sign 6 is a sign for a right turn (or a left turn) (“YES” in operation 1520 ), the driving assistance apparatus 100 may increase the coasting torque for regenerative braking.

[0223] Operation 1530 may be performed with Figure 5 The operation 1230 shown in FIG. 1 is the same or similar. When the road sign 6 is a sign for a right turn (or a left turn), it can be predicted that the driver decelerates to change the driving direction of the vehicle 1. The control unit 140 can increase the coasting torque (or the coasting torque level) for regenerative braking to decelerate the vehicle 1 smoothly.

[0224] Therefore, the vehicle 1 can be decelerated smoothly, and the fuel efficiency or electric efficiency of the vehicle 1 can be improved.

[0225] When the vehicle 1 turns right (or left) after the coasting torque increases, the driving assistance apparatus 100 may reduce the coasting torque for regenerative braking.

[0226] Fig.12 is a flowchart illustrating a method of controlling coasting torque by recognizing a sign by a driving assistance apparatus according to one embodiment.

[0227] Will refer to Fig.12 A method 1600 for controlling the coasting torque by recognizing a sign by the driving assistance device 100 is described. However, Fig.12One or more of the operations shown in FIG. 1600 may not be necessary for method 1600 and may be omitted. Fig.12 One or some of the operations described in .

[0228] In operation 1610 , the driving assistance apparatus 100 may obtain information about signs around the vehicle 1 .

[0229] The control unit 140 of the driving assistance apparatus 100 may obtain information about signs around the vehicle 1 through the camera 110, the radar 120, and / or the laser radar 130. For example, the control unit 140 may recognize signs around the vehicle 1 based on image data.

[0230] In operation 1620 , the driving assistance apparatus 100 may identify whether a sign included in the image data is a sign indicating a speed limit.

[0231] The control unit 140 may identify whether the sign included in the image data is a sign indicating a speed limit based on the image data of the camera 110. For example, the control unit 140 may identify whether the sign included in the image data is a sign indicating a speed limit by extracting an image of the sign from the image data of the camera 110 and performing image processing, machine learning, etc.

[0232] When the sign included in the image data is not a sign indicating a speed limit (“NO” in operation 1620 ), the driving assistance apparatus 100 may continue to obtain information about the signs around the vehicle 1 .

[0233] When the sign included in the image data is a sign indicating a speed limit (“Yes” in operation 1620 ), the driving assistance apparatus 100 may identify whether the traveling speed of the vehicle 1 is greater than the speed limit indicated by the sign (operation 1630 ).

[0234] The control unit 140 may obtain information about the acceleration (or deceleration) and / or the traveling speed of the vehicle 1 from the vehicle speed sensor 91 , and obtain the traveling speed of the vehicle 1 based on the information obtained from the vehicle speed sensor 91 .

[0235] The control unit 140 may obtain the speed limit based on the image data of the camera 110. For example, the control unit 140 may recognize characters, numbers, or symbols on the image of the sign included in the image data of the camera 110 by extracting the image of the sign from the image data of the camera 110 and performing image processing, machine learning, etc.

[0236] The control unit 140 may compare the travel speed of the vehicle 1 with the speed limit indicated by the sign recognized from the image data of the camera 110 , and may identify whether the travel speed of the vehicle 1 is greater than the speed limit.

[0237] When the driving speed of the vehicle 1 does not exceed the speed limit indicated by the sign recognized from the image data of the camera 110 (“No” in operation 1630 ), the driving assistance device 100 may again perform operation 1610 of obtaining information about the signs around the vehicle 1 from the image data in the camera 110 .

[0238] In operation 1640 , when the travel speed of the vehicle 1 exceeds the speed limit indicated by the sign recognized from the image data of the camera 110 (“YES” in operation 1630 ), the driving assistance apparatus 100 may increase the coasting torque for regenerative braking.

[0239] Fig.12 The operation 1640 can be Figure 5 The operation 1230 shown is the same or similar. The control unit 140 can increase the coasting torque (or the coasting torque level) for regenerative braking to quickly and effectively decelerate the vehicle 1. Therefore, the vehicle 1 can be prevented from violating the speed limit, and the fuel efficiency or electrical efficiency of the vehicle 1 can be improved.

[0240] When the travel speed of the vehicle 1 is lower than the speed limit after the coasting torque is increased, the driving assistance apparatus 100 may reduce the coasting torque for regenerative braking.

[0241] Fig.13 is a flowchart illustrating a method of controlling coasting torque by recognizing a sign by a driving assistance apparatus according to one embodiment.

[0242] Will refer to Fig.13 A method 1700 for controlling the coasting torque by recognizing a sign by the driving assistance device 100 is described. However, Fig.13 One or more operations shown in FIG. 17 may not be necessary for method 1700 and may be omitted. Fig.13 One or some of the operations shown in .

[0243] In operation 1710 , the driving assistance apparatus 100 may obtain information about signs around the vehicle 1 .

[0244] Operation 1710 may be performed with Fig.12 The operation 1610 shown in FIG. 1 is the same as or similar to that shown in FIG.

[0245] In operation 1720 , the driving assistance apparatus 100 may identify whether a sign included in the obtained information indicates a school zone.

[0246] The control unit 140 may identify whether a sign included in the obtained information indicates a campus based on the image data of the camera 110. For example, the control unit 140 may identify whether a sign included in the obtained information indicates a campus by extracting an image of the sign from the image data of the camera 110 and performing image processing, machine learning, etc.

[0247] When the sign included in the obtained information does not indicate a school zone (“No” in operation 1720 ), the driving assistance apparatus 100 may perform operation 1710 of obtaining information about the sign around the vehicle 1 again.

[0248] In operation 1730 , when the sign included in the obtained information indicates a school zone (“YES” in operation 1720 ), the driving assistance apparatus 100 may increase the coasting torque for regenerative braking.

[0249] Operation 1730 can be performed with Figure 5 The operation 1230 shown in FIG. 1 is the same or similar. The control unit 140 can increase the coasting torque (or the coasting torque level) for regenerative braking to quickly and effectively decelerate the vehicle 1. Therefore, accidents in school zones can be reduced or avoided, and the fuel efficiency or electrical efficiency of the vehicle 1 can be improved.

[0250] Fig.14 is a flowchart illustrating a method of controlling coasting torque based on a route to a destination by a driving assistance apparatus according to one embodiment.

[0251] Will refer to Fig.14 A method 1800 for controlling the coasting torque by the driving assistance device 100 according to a route to a destination is described. However, Fig.14 One or more operations shown in FIG. 1800 may not be necessary for method 1800 and may be omitted. Fig.14 One or some of the operations shown in .

[0252] In operation 1810 , the driving assistance apparatus 100 may obtain information about a route to a destination of the vehicle 1 .

[0253] The driving assistance apparatus 100 may obtain information about a route to a destination of the vehicle 1 input by the driver from the navigator or navigation device 10. For example, the control unit 140 of the driving assistance apparatus 100 may obtain information about a route that the vehicle 1 will travel for a predetermined time from the navigation device 10 through a vehicle communication network.

[0254] In operation 1820 , the driving assistance apparatus 100 may identify whether the route to the destination includes a direction change (eg, a right turn or a left turn) in front of the vehicle 1 .

[0255] The control unit 140 may identify whether there is a direction change (eg, a right turn or a left turn) in front of the vehicle 1 based on the route that the vehicle 1 will travel for a predetermined time obtained from the navigation device 10 .

[0256] When the route to the destination does not include a direction change ahead of the vehicle 1 (“NO” in operation 1820 ), the driving assistance apparatus 100 may again perform operation 1810 of obtaining information on the route to the destination of the vehicle 1 .

[0257] In operation 1830 , when the route to the destination includes a direction change in front of the vehicle 1 (“YES” in operation 1820 ), the driving assistance apparatus 100 may increase the coasting torque for regenerative braking.

[0258] Operation 1830 can be used with Figure 5 The operation 1230 shown in FIG. 1 is the same or similar. When the route to the destination includes a direction change in front of the vehicle 1, it can be predicted that the driver will decelerate to change the driving direction of the vehicle 1. The control unit 140 can increase the coasting torque (or coasting torque level) for regenerative braking in order to smoothly decelerate the vehicle 1.

[0259] Therefore, the vehicle 1 can be decelerated smoothly, and the fuel efficiency or electric efficiency of the vehicle 1 can be improved.

[0260] When the vehicle 1 changes direction (for example, turns right or left) after the coasting torque increases, the driving assistance apparatus 100 may reduce the coasting torque for regenerative braking.

[0261] Fig.15 is a flowchart illustrating a method of controlling coasting torque based on a speed limit by a driving assistance apparatus according to one embodiment.

[0262] Will refer to Fig.15 A method 1900 for controlling the coasting torque based on the speed limit by the driving assistance device 100 is described. However, Fig.15 One or more operations shown in FIG. 1900 may not be necessary for method 1900 and may be omitted. Fig.15 One or some of the operations shown in .

[0263] In operation 1910 , the driving assistance apparatus 100 may obtain information about a speed limit leading to a destination of the vehicle 1 .

[0264] For example, the driving assistance apparatus 100 may obtain information about a route to a destination and information about a speed limit on the route to the destination point input by the driver from the navigation device 10 of the vehicle 1. For example, the control unit 140 of the driving assistance apparatus 100 may obtain information about a route that the vehicle 1 will travel for a predetermined time and information about a speed limit on the route that the vehicle 1 will travel from the navigation device 10 through the vehicle communication network.

[0265] In operation 1920 , the driving assistance apparatus 100 may identify whether the driving speed of the vehicle 1 is greater than a speed limit on a route on which the vehicle 1 will travel.

[0266] The control unit 140 may obtain information about the acceleration (or deceleration) and / or the traveling speed of the vehicle 1 from the vehicle speed sensor 91 , and may obtain the traveling speed of the vehicle 1 based on the information obtained from the vehicle speed sensor 91 .

[0267] The control unit 140 may compare the travel speed of the vehicle 1 with the speed limit on the route on which the vehicle 1 will travel, and may identify whether the travel speed of the vehicle 1 is greater than the speed limit.

[0268] When the travel speed of the vehicle 1 is not greater than the speed limit indicated by the sign (“No” in 1920 ), the driving assistance apparatus 100 may again perform operation 1910 of obtaining information on the speed limit leading to the destination of the vehicle 1 .

[0269] In operation 1930 , when the travel speed of the vehicle 1 is greater than the speed limit indicated by the sign (“YES” in operation 1920 ), the driving assistance apparatus 100 may increase the coasting torque for regenerative braking.

[0270] Operation 1930 can be used with Figure 5 The operation 1230 shown in FIG. 1 is the same or similar. The control unit 140 can increase the coasting torque (or the coasting torque level) for regenerative braking so as to quickly and effectively decelerate the vehicle 1 to comply with the speed limit. Therefore, the vehicle 1 can be prevented from violating the speed limit, and the fuel efficiency or electrical efficiency of the vehicle 1 can be improved.

[0271] When the travel speed of the vehicle 1 is not greater than the speed limit after the coasting torque is increased, the driving assistance apparatus 100 may reduce the coasting torque for regenerative braking.

[0272] Fig.16 is a flowchart illustrating a method of controlling a coasting torque based on a position of a traffic enforcement camera by a driving assistance apparatus according to one embodiment.

[0273] Will refer to Fig.16The method 2000 for controlling the sliding torque based on the position of the traffic enforcement camera by the driving assistance device 100 is described. However, Fig.16 One or more operations shown in FIG. 2000 may not be necessary for method 2000 and may be omitted. Fig.16 One or some of the operations shown in .

[0274] In operation 2010 , the driving assistance apparatus 100 may obtain information about locations of traffic enforcement cameras on a route leading to a destination of the vehicle 1 .

[0275] The driving assistance apparatus 100 may obtain information about the route to the destination input by the driver and information about the location of traffic enforcement cameras on the route to the destination from the navigation device 10 of the vehicle 1. For example, the control unit 140 of the driving assistance apparatus 100 may obtain information about the route that the vehicle 1 will travel for a predetermined time and information about the location of traffic enforcement cameras on the route that the vehicle 1 will travel from the navigation device 10 through the vehicle communication network.

[0276] In operation 2020 , the driving assistance apparatus 100 may identify whether the distance to the traffic enforcement camera is shorter than a reference distance.

[0277] The control unit 140 may determine the distance to the traffic enforcement camera based on the location of the traffic enforcement camera on the route that the vehicle 1 will travel.

[0278] The reference distance may be set based on experience or experiment. For example, the reference distance may be set to 1 kilometer.

[0279] The control unit 140 may compare the distance to the traffic enforcement camera with a reference distance, and may identify whether the distance to the traffic enforcement camera is shorter than the reference distance.

[0280] When the distance to the traffic enforcement camera is not shorter than the reference distance (No in operation 2020 ), the driving assistance apparatus 100 may again perform operation 2010 of obtaining information on the location of the traffic enforcement camera on the route to the destination of the vehicle 1 .

[0281] In operation 2030 , when the distance to the traffic enforcement camera is shorter than the reference distance (“YES” in operation 2020 ), the driving assistance apparatus 100 may increase the coasting torque for regenerative braking.

[0282] Operation 2030 can be Figure 5The operation 1230 shown in FIG. 1 is the same or similar to the operation 1230 shown in FIG. 1. The control unit 140 can increase the coasting torque (or the coasting torque level) for regenerative braking so as to quickly and effectively decelerate the vehicle 1 in front of the traffic enforcement camera. Therefore, the vehicle 1 can be prevented from violating the speed limit, and the fuel efficiency or electrical efficiency of the vehicle 1 can be improved.

[0283] When the vehicle 1 passes by a traffic enforcement camera after the coasting torque is increased, the driving assistance apparatus 100 may reduce the coasting torque for regenerative braking.

[0284] According to one aspect of the present disclosure, a driving assistance apparatus and a method of controlling the driving assistance apparatus may control regenerative braking of a vehicle based on information about an environment around the vehicle.

[0285] According to one aspect of the present disclosure, a driving assistance apparatus and a method of controlling the driving assistance apparatus may control regenerative braking of a vehicle based on information about an obstacle or an object interfering with travel of the vehicle.

[0286] According to one aspect of the present disclosure, a driving assistance apparatus and a method of controlling the same may control regenerative braking of a vehicle based on information about traffic infrastructure such as traffic lights, road markings, or signs.

[0287] Exemplary embodiments of the present disclosure have been described above. In the above exemplary embodiments, some components may be implemented as "modules". Here, the term "module" refers to, but is not limited to, software and / or hardware components that perform certain tasks, such as a field programmable gate array (FPGA) or an application-specific integrated circuit (ASIC). The module may advantageously be configured to reside on an addressable storage medium and to be executed on one or more processors.

[0288] Thus, for example, a module may include components (e.g., software components, object-oriented software components, class components, and task components), processes, functions, attributes, programs, subroutines, program code segments, drivers, firmware, microcode, circuit systems, data, databases, data structures, tables, arrays, and variables. The operations provided in components and modules may be combined into fewer components and modules, or further separated into additional components and modules. In addition, components and modules may be implemented so that they execute one or more CPUs in a device.

[0289] Therefore, in summary, in addition to the above exemplary embodiments, the embodiments may be implemented by computer-readable code / instructions in / on a medium (e.g., a computer-readable medium) to control at least one processing element to implement any of the above exemplary embodiments. The medium may correspond to any medium that allows storage and / or transmission of computer-readable code.

[0290] The computer readable code may be recorded on a medium or transmitted over the Internet. The medium may include a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, and an optical recording medium. In addition, the medium may be a non-temporary computer readable medium. The medium may also be a distributed network so that the computer readable code is stored or transmitted and executed in a distributed manner. Further, by way of example only, the processing element may include at least one processor or at least one computer processor, and the processing element may be distributed and / or included in a single device.

[0291] While exemplary embodiments have been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this disclosure, will appreciate that other embodiments can be devised which do not depart from the scope of this disclosure. Accordingly, the scope should be limited only by the claims appended hereto.

Claims

1. A driving assistance device, comprising: a camera associated with a host vehicle and configured to generate image data surrounding the host vehicle; as well as A processor configured to: obtaining information about a position of an accelerator pedal of the host vehicle and information about a position of a brake pedal of the host vehicle; and When both the accelerator pedal and the brake pedal are not pressed by a driver, a coasting torque for regenerative braking is controlled based on the image data around the host vehicle.

2. The driving assistance device according to claim 1, wherein: The processor is configured to increase a preset value of the coasting torque for regenerative braking based on the image data when at least either one of the accelerator pedal and the brake pedal is pressed by the driver.

3. The driving assistance device according to claim 1, wherein: The processor is configured to: determining whether the host vehicle needs to be decelerated or braked based on the image data; and The coasting torque for regenerative braking is increased according to a determination based on the image data whether deceleration or braking of the host vehicle is required.

4. The driving assistance device according to claim 3, wherein: The processor is configured to reduce the increased coasting torque when deceleration or braking of the host vehicle is not required.

5. The driving assistance device according to claim 1, wherein: The processor is configured to: estimating a time at which the host vehicle will collide with a preceding vehicle based on the image data; and The coasting torque for regenerative braking is increased based on an estimated time of collision of the host vehicle with the leading vehicle.

6. The driving assistance device according to claim 1, wherein: The processor is configured to: calculating a distance from the host vehicle to a preceding vehicle based on the image data; and The coasting torque for regenerative braking is increased based on the calculated distance from the host vehicle to the leading vehicle.

7. The driving assistance device according to claim 1, wherein: The processor is configured to: identifying an object in front of the host vehicle based on the image data; and When the identified object is at least one of a pedestrian, a cyclist, or an animal, the coasting torque for regenerative braking is increased.

8. The driving assistance device according to claim 1, wherein: The processor is configured to: identifying a traffic signal of a traffic light in front of the host vehicle based on the image data; and When the identified traffic signal of the traffic light is a traffic signal requiring stopping of the host vehicle, the coasting torque for regenerative braking is increased.

9. The driving assistance device according to claim 1, wherein: The processor is configured to: identifying road markings on a road on which the host vehicle is traveling based on the image data; and When the identified road sign is at least one of a stop sign, a crosswalk warning sign, a right turn sign, or a left turn sign, the coasting torque for regenerative braking is increased.

10. The driving assistance device according to claim 1, wherein: The processor is configured to: identifying a speed limit on a road on which the host vehicle is traveling based on the image data; and In response to the host vehicle traveling at a speed greater than an identified speed limit, the coasting torque for regenerative braking is increased.

11. A driving assistance method, the driving assistance method comprising the following steps: obtaining image data about a host vehicle from a camera associated with the host vehicle; obtaining information regarding a position of an accelerator pedal of the host vehicle and information regarding a position of a brake pedal of the host vehicle; as well as When both the accelerator pedal and the brake pedal are not pressed by a driver, a coasting torque for regenerative braking is controlled based on the image data around the host vehicle.

12. The driving assistance method according to claim 11, further comprising the following steps: When at least either one of the accelerator pedal and the brake pedal is pressed by the driver, a preset value of the coasting torque for regenerative braking is increased based on the image data.

13. The driving assistance method according to claim 11, wherein: The step of controlling the coasting torque for regenerative braking comprises: determining whether the host vehicle needs to be decelerated or braked based on the image data; and The coasting torque for regenerative braking is increased in accordance with a determination based on the image data whether the host vehicle requires deceleration or braking.

14. The driving assistance method according to claim 13, further comprising the following steps: When deceleration or braking of the host vehicle is not required, the increased coasting torque is reduced.

15. The driving assistance method according to claim 11, wherein: The step of increasing the coasting torque for regenerative braking comprises: estimating a time at which the host vehicle will collide with a preceding vehicle based on the image data; and The coasting torque for regenerative braking is increased based on an estimated time of collision of the host vehicle with the leading vehicle.

16. The driving assistance method according to claim 11, wherein: The step of controlling the coasting torque for regenerative braking comprises: calculating a distance from the host vehicle to a preceding vehicle based on the image data; and The coasting torque for regenerative braking is increased based on the calculated distance from the host vehicle to the leading vehicle.

17. The driving assistance method according to claim 11, wherein: The step of controlling the coasting torque for regenerative braking comprises: identifying an object in front of the host vehicle based on the image data; and When the identified object is at least one of a pedestrian, a cyclist, or an animal, the coasting torque for regenerative braking is increased.

18. The driving assistance method according to claim 11, wherein: The step of controlling the coasting torque for regenerative braking comprises: identifying a traffic signal of a traffic light in front of the host vehicle based on the image data; and When the identified traffic signal of the traffic light is a traffic signal requiring stopping of the host vehicle, the coasting torque for regenerative braking is increased.

19. The driving assistance method according to claim 11, wherein: The step of controlling the coasting torque for regenerative braking comprises: identifying road markings on a road on which the host vehicle is traveling based on the image data; and When the identified road sign is at least one of a stop sign, a crosswalk warning sign, a right turn sign, or a left turn sign, the coasting torque for regenerative braking is increased.

20. The driving assistance method according to claim 11, wherein: The step of controlling the coasting torque for regenerative braking comprises: identifying a speed limit on a road on which the host vehicle is traveling based on the image data; and In response to the host vehicle traveling at a speed greater than an identified speed limit, the coasting torque for regenerative braking is increased.

Images