Driver assistance system of a vehicle and method for controlling it

Abstract

A vehicle's driver assistance system, including: an image capture unit (10) that captures a foreground image of the vehicle; an obstacle detection unit (20) that detects an obstacle on the lateral and rear sides of the vehicle; an investigative unit (31) which determines, on the basis of the recorded image, whether a current vehicle is located on an junction; and a control unit (30) that automatically changes the vehicle's lane when it is determined that the current vehicle is on the junction road and when no obstacle is detected on the lateral or rear side of the vehicle; where, if it is determined based on the recorded image that the current vehicle is located on the junction road, and if the obstacle is detected on the lateral or rear side of the vehicle, the control unit (30) switches off the automatic longitudinal and lateral control, which includes accelerating, decelerating or braking and lane keeping control of the vehicle.

Description

CROSS-REFERENCE TO A RELATED REGISTRATION

[0001] The present application claims the benefits derived from Korean patent application No. 2015-0043170, which was filed with the Korean Intellectual Property Office on March 27, 2015, and the disclosure of which is hereby incorporated by reference. BACKGROUND 1. Area

[0002] Embodiments of the present disclosure relate to a driver assistance system of a vehicle and to a method for controlling the same, and in particular they relate to a driver assistance system of a vehicle which, using a camera, radar sensor or the like existing in the vehicle, determines whether a current vehicle is on an junction road and assists a driver in driving safely at a junction point, and to a method for controlling the same. 2. Description of the state of the art

[0003] Generally, a driver can drive safely by recognizing and gathering information about the rear of the vehicle. This is achieved by installing a rearview mirror inside the vehicle, allowing the driver to observe the front and rear of the vehicle while keeping an eye on the front, and by installing side mirrors on both sides of the vehicle's exterior, allowing the driver to observe both the rear and lateral sides.

[0004] However, there can be blind spots on the road where visual detection by the driver is difficult, even when using the side mirrors while driving. For example, a situation arises where the driver cannot see other vehicles on the rear and sides of the vehicle on a road connected to the vehicle's current lane (i.e., the lane the vehicle is currently traveling on).

[0005] In this way, if a vehicle or object is present in a blind spot when changing lanes while driving, parking, or stopping, it is very likely that this will lead to an accident, so a rear and side alarm system is used to overcome limitations in the driver's view and the side mirrors.

[0006] This means that the rear and side alarm system used today can detect an obstacle present in the vehicle's blind spot using a radar sensor and warn a user, thus assisting the user in driving safely.

[0007] Furthermore, an ACC (Adaptive Cruise Control) system is a system that allows a vehicle's speed to be maintained according to external road conditions, even without the driver using the brake or accelerator pedals, when the driver sets the vehicle's speed to a constant speed, thus providing the driver with convenience. In recent years, an SCC (Smart Cruise Control) system has been developed, which uses radar in the vehicle and allows for deceleration, braking, or acceleration while maintaining a specific distance from the vehicle ahead, provided the vehicle in front is positioned as the vehicle in front.

[0008] In the meantime, such an ACC system of the vehicle can control an acceleration control unit, an engine control unit and a brake control unit of a controlled and regulated vehicle using information such as a distance and relative speed between the controlled and regulated vehicle and a vehicle in front or an angle with a forward direction of movement of the controlled and regulated vehicle, a predetermined longitudinal speed of the controlled and regulated vehicle and a predetermined acceleration limit, via a front radar sensor of the vehicle.

[0009] Furthermore, an LKAS (Lane Keep Assist System) is a system that helps to keep the vehicle in its lane by using the steering wheel. If an unintentional deviation from a lane occurs due to a driver's drowsy driving or similar factors, and if a driver's vehicle deviates from its lane in a state where the driver does not activate a lane change signal, then the LKAS generates an early warning tone and then adds appropriate steering torque, thereby helping the driver to keep the vehicle in its lane.

[0010] This means that the LKAS is a system that can detect a vehicle's deviation when the vehicle deviates from its lane and can assist the driver in lateral control so that the vehicle can follow a target lane at the appropriate speed.

[0011] Furthermore, by using the ACC system and the LKAS, it is possible to perform a lane change while simultaneously operating longitudinal and lateral control to follow a vehicle in front on a road, highway, motorway, etc.

[0012] However, if a lane merging is present on the front of a vehicle in an image detected by a camera fitted for lane detection, a driver assistance system will be deactivated due to a failure of the lane detection, and the vehicle's behavior can become very dangerous.

[0013] DE 10 2007 046 688 A1 describes a method for operating a driver assistance system for the lateral guidance of a motor vehicle.

[0014] DE 10 2005 023 185 A1 describes a lane change assistant for motor vehicles.

[0015] DE 10 2013 002 778 A1 describes a method for monitoring the reaction capability of the driver of a motor vehicle during longitudinally and laterally controlled driving operation, in particular during autonomous driving operation.

[0016] DE 10 2012 023 107 A1 describes a method for operating a driver assistance system of a motor vehicle. OVERVIEW

[0017] Therefore, one aspect of the present disclosure is to provide a driver assistance system in a vehicle and a method for controlling the same, which can prevent the occurrence of a case in which a suitable adaptive cruise control (ACC) and lane change, which are to be controlled and regulated due to a vehicle ahead and a lane departure, are not carried out when lanes disappear, such as at a junction or merging point, leading to a dangerous situation.

[0018] Another aspect of the present disclosure is to provide a driver assistance system in a vehicle and a method for controlling the same, which can detect a junction point and warn a driver of the danger using a rear-side alarm system when an obstacle is present to the rear and to the side, and thereby help the driver to safely perform a lane change.

[0019] Other aspects of the revelation will be partly set forth in the description that follows and should partly become obvious from the description, or they can be experienced through the practice of the revelation.

[0020] In accordance with the present invention, a vehicle driver assistance system is provided comprising: an image acquisition unit that captures a foreground image of the vehicle; an obstacle detection unit that detects an obstacle on the lateral and rear sides of the vehicle; a detection unit that determines, based on the captured image, whether a current vehicle is on an intersection;and a control unit that automatically changes the vehicle's lane when it is determined that the current vehicle is on the junction and when no obstacle is detected on the side or rear of the vehicle, wherein the control unit then, when it is determined on the basis of the captured image that the current vehicle is on the junction and when the obstacle is detected on the side or rear of the vehicle, deactivates the automatic longitudinal and lateral control, which includes acceleration, braking or deceleration and lane keeping control of the vehicle.

[0021] The driver assistance system may also include a warning unit that warns a driver if, based on the captured image, it is determined that the current vehicle is on the junction road, and if the obstacle is detected on the lateral or rear side of the vehicle.

[0022] The investigation unit can also use lane recognition information from the recorded image to determine whether the current vehicle is on the junction road.

[0023] And the investigation unit can also recognize an intersection road sign based on the recorded image and determine that the current vehicle is on the intersection road if it recognizes the intersection road sign.

[0024] In accordance with the present invention, a vehicle driver assistance method is further provided, comprising the following steps: capturing a foreground image of the vehicle; detecting an obstacle on the lateral and rear sides of the vehicle; determining, based on lane recognition information from the captured image, whether the current vehicle is on an intersection; performing automatic longitudinal and lateral control of the vehicle based on the foreground image;Automatic lane changing of the vehicle when, based on lane detection information, it is determined that the current vehicle is on the junction road and no obstacle is detected on the side or rear of the vehicle; and deactivation of the vehicle's automatic longitudinal and lateral control when, based on lane detection information, it is determined that the current vehicle is on the junction road and an obstacle is detected on the side or rear of the vehicle.

[0025] The driver assistance procedure may also include warning a user if, based on lane detection information, it is determined that the current vehicle is on the junction road, and if the obstacle is detected on the lateral or rear side of the vehicle.

[0026] Automatic longitudinal and lateral control can also include accelerating, braking or decelerating, and lane keeping control of the vehicle.

[0027] In accordance with the present invention, a vehicle driver assistance system is further provided, comprising: a navigation unit that receives road information about a road on which the vehicle is currently traveling; an obstacle detection unit that detects an obstacle on the sides and rear of the vehicle; a detection unit that determines, based on the road information, whether the current vehicle is on an intersection; a control unit that automatically changes the vehicle's lane when it is determined that the current vehicle is on an intersection and when no obstacle is detected on the sides or rear of the vehicle;and an image acquisition unit that captures a foreground image of the vehicle, wherein the detection unit, based on the captured image, re-determines whether the current vehicle is on the junction, wherein, if it is determined that the current vehicle is on the junction, and if the obstacle is detected on the lateral or rear side of the vehicle, then the control unit deactivates or warns a driver of automatic longitudinal and lateral control, which includes acceleration, braking or deceleration and lane keeping control of the vehicle.

[0028] The investigation unit can also determine, based on lane recognition information from the recorded image, whether the current vehicle is on the junction road.

[0029] Based on the recorded image, the investigation unit can also recognize an intersection road sign and determine that the current vehicle is on the intersection road if it recognizes the intersection road sign. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] These and / or other aspects of the revelation will become apparent and easier to understand from the following description of the forms of execution, which is given in conjunction with the accompanying drawings, in which the drawings: Fig. 1 is a block configuration diagram illustrating a driver assistance system of a vehicle in accordance with an embodiment of the present disclosure; Fig. 2 is a flowchart illustrating a method for controlling a driver assistance system of a vehicle in accordance with an embodiment of the present disclosure; Fig. 3 a schematic position diagram of a vehicle in accordance with an embodiment of the present disclosure; Fig. 4 a schematic position diagram of a vehicle in accordance with another embodiment of the present disclosure; Fig. 5 a schematic position diagram of a vehicle in accordance with yet another embodiment of the present disclosure; Fig. 6 is a block diagram illustrating a driver assistance system of a vehicle in accordance with another embodiment of the present disclosure; Fig. 7 is a flowchart illustrating a method for controlling a driver assistance system of a vehicle in accordance with another embodiment of the present disclosure; Fig. 8 is a schematic diagram that schematically illustrates the detection of a road traffic sign recognition sign by a camera in accordance with an embodiment of the present disclosure; and Fig. 9 is a flowchart illustrating a method for controlling a driver assistance system of a vehicle in accordance with yet another embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0032] However, the embodiments of the present disclosure can be modified in many different ways, and the scope of protection of the present disclosure is not limited to the embodiments described below. Furthermore, the embodiments of the present disclosure are provided to explain the present disclosure more fully to those skilled in the art. In the specification and the drawings, the same reference numerals are assigned to parts or components that have essentially the same functional configurations, and the repetitive description thereof is omitted. The shape, size, etc., of the parts or components shown in the drawings may be exaggerated for clarity.

[0033] Fig. Figure 1 is a block configuration diagram illustrating a driver assistance system of a vehicle in accordance with an embodiment of the present disclosure.

[0034] With reference to Fig. 1 A driver assistance system 1 of a vehicle comprises an image capture unit 10, an obstacle detection unit 20, a control unit 30 and a warming unit 40.

[0035] The image acquisition unit 10 can have a camera sensor 11 for capturing a front of the vehicle, it can capture an outside image of the vehicle and it can generate photographic information about the captured outside image.

[0036] Typically, a camera with more than one channel is used, and a complementary metal oxide semiconductor (CMOS) is usually used as the camera's image sensor. The CMOS image sensor is a semiconductor device that converts an exposed image into an electrical form and transmits the converted image. An image captured by the camera can be sent to the control unit 30.

[0037] The image acquisition unit 10, in accordance with the present disclosure, can obtain lane information from the image captured using the camera sensor 11. That is, the image acquisition unit 10 can extract lane information (lane width, lateral displacement of a vehicle, distance to both lanes, lane type, relative re-entry angle between a lane and a vehicle, road curvature, and the like) from the photographic information.

[0038] The obstacle detection unit 20 detects obstacles on the rear and lateral sides of the vehicle. Specifically, the obstacle detection unit 20 can use a radar sensor 21 or an ultrasonic sensor 22.

[0039] The radar sensor 21 can emit electromagnetic waves and detect the reflection and return of these waves by a moving object, thereby determining the distance between an obstacle and a vehicle, as well as the obstacle's speed. Such a radar sensor 21 can be mounted on the left and right sides inside the rear bumper of the vehicle, but this is not its only possible location. For example, the radar sensor 21 can be installed in a rearview mirror of the vehicle and can transmit and receive radar signals.

[0040] Such a radar sensor 21 can detect control signals from the entirety of the rear and lateral sides of the vehicle through CAN (Controller Area Network) communication and can send the detected control signals to the control unit 30.

[0041] In addition, the ultrasonic sensor 22 can be used to detect an obstacle on the rear and lateral sides of the vehicle.

[0042] In this case, the radar sensor 21 or the ultrasonic sensor 22 can be installed in the side mirror to detect an obstacle on the rear and lateral sides of the vehicle, as shown in Fig. 3 to Fig. 5 is illustrated, and they can be mounted below the rear bumper of the vehicle to detect an obstacle at the rear of the vehicle.

[0043] In particular, the ultrasonic sensor 22 can transmit a frequency of a predetermined band as an ultrasonic signal and receive a wave reflected by an object, thereby detecting the object. In other words, the time it takes for the ultrasonic signal to be reflected and sent back to the ultrasonic sensor 22 after it has been transmitted and reached the object can be measured, thus determining the distance to the object.

[0044] The control unit 30 controls all operations of the vehicle's driver assistance system 1.

[0045] In particular, the control unit 30 may include a main processor and a memory for storing programs and data, although these are not illustrated, as hardware components that mediate the output and input of data between different components contained in the vehicle's driver assistance system 1 and the control unit 30.

[0046] In particular, the memory (not illustrated) can temporarily store a control program and control data for controlling the operation of the vehicle's driver assistance system 1, image information obtained from the image acquisition unit 10, a distance from the obstacle detected by the obstacle detection unit 20, vehicle speed information, various control signals output by the main processor (not illustrated), and the like.

[0047] The memory can include non-volatile memory, such as flash memory, ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), and the like, as well as volatile memory, such as SRAM (Static Random Access Memory), DRAM (Dynamic RAM), and the like.

[0048] In particular, the non-volatile memory can semi-permanently store the control program and control data for controlling the operation of the vehicle's driver assistance system 1. For example, if the obstacle detected by the obstacle detection unit 20 is located on the side or rear of the vehicle, the non-volatile memory can permanently store a safe distance for performing a lane change by means of automatic longitudinal and lateral control.

[0049] Furthermore, the volatile memory can read the control program and control data from the non-volatile memory and temporarily store the read control program and control data, and it can temporarily store the image taken by the image acquisition unit 10, the vehicle speed of the obstacle detected by the obstacle detection unit 20, the distance to the vehicle and various control signals output by the main processor.

[0050] Furthermore, such a control unit 30 has a detection unit 31, which uses the image acquisition unit 10 to determine in software whether a current vehicle is on an intersection road that is a lane connection point, and a controller 32, which performs lane keeping and lane change control based on intersection lane information determined by the detection unit 31, as described in Fig. 1 is illustrated.

[0051] First, investigation unit 31 uses lane information from the image captured by image acquisition unit 10 to determine whether the current vehicle is on an intersection lane that is a lane junction point. Specifically, investigation unit 31 can determine from the lane information in the image whether the current vehicle is on an intersection lane that is a lane junction point if a lane of travel and a lane of the intersection are at a predetermined angle or greater to each other.

[0052] Next, the controller 32 can obtain obstacle information acquired by the obstacle detection unit 20 and perform automatic longitudinal and lateral control of the vehicle's driver assistance system 1. In particular, with regard to the automatic longitudinal and lateral control of the vehicle's driver assistance system 1, lateral control can be performed to ensure that a vehicle moving forward in a lane is maintained using an existing lane keeping assist system (LKAS).

[0053] Furthermore, longitudinal control, in which braking or deceleration or acceleration is possible while maintaining a constant speed of the vehicle, can be carried out using an ACC (Adaptive Cruise Control) system.

[0054] Next, when the detection unit 31 determines that the current vehicle is at a lane junction point, and when the obstacle detection unit 20 detects an obstacle within a predetermined distance, the controller 32 switches off the automatic longitudinal and lateral control of the vehicle's driver assistance system 1.

[0055] However, in a case where the detection unit 31 determines that the current vehicle is at a lane junction point, the controller 32 performs a lane change by lateral control for the purpose of driver convenience if no obstacle is detected by the obstacle detection unit 20 at the predetermined distance.

[0056] If the automatic longitudinal and lateral control of the vehicle's driver assistance system 1 is deactivated according to the control signal output by the main processor, then the warning unit 40 can warn a user of the deactivation of the automatic longitudinal and lateral control. Such a warning unit 40 can include a display unit 41, which visually displays a warning, or an audible unit 42, which emits a sound to warn the user of the danger.

[0057] If the control unit 30 determines that the current vehicle is in a merging lane, and if the obstacle detection unit 20 determines that a vehicle constituting an obstacle is within a safe distance to the sides and rear of the vehicle, then the display unit 41 can display a signal to deactivate the vehicle's longitudinal and lateral steering without automatically performing a lane change. Additionally, the display unit 41 can warn the user of the hazard by illuminating a warning light.

[0058] However, the present disclosure is not limited to warning using the display unit 41, and it is possible to acoustically warn a user before switching off the longitudinal and lateral control of the vehicle using the sound unit 42.

[0059] The control unit 30 sends the control signal via CAN communication, so that the warning unit 40 can warn a driver.

[0060] Fig. Figure 2 is a flowchart illustrating a method for controlling a driver assistance system of a vehicle 2 in accordance with an embodiment of the present disclosure, and Fig. 3 to Fig. Figure 5 are schematic position diagrams illustrating a vehicle control method of the vehicle 2 in accordance with different embodiments of the present disclosure.

[0061] In accordance with the present disclosure, the vehicle's driver assistance system 1 can, in process S100, actuate the radar sensor 21 for detecting an obstacle and the camera sensor 11 for capturing a foreground image of the vehicle. In particular, the radar sensor 21 of the obstacle detection unit 20 can detect an obstacle located on the lateral and rear sides of the vehicle, and the camera sensor 11 of the image acquisition unit 10 can capture the foreground image and extract lane information.

[0062] In this case, the vehicle's driver assistance system 1 can, in operation S200, determine, based on the lane information extracted from the captured image, whether the current vehicle is in a junction lane that is a lane junction point. Specifically, in operation S300, if it is determined that the current vehicle is not at a lane junction point (NO in operation S200), the vehicle's driver assistance system 1 can then continuously perform lane keeping control in a lane in which the current vehicle is located. Such lane keeping control refers to lane keeping in a lane in which the vehicle is currently moving, while including lateral control of the vehicle.

[0063] As an example, how in Fig. As illustrated in Figure 3, if the image taken by the image acquisition unit 10 indicates that the current vehicle is not at a lane junction point, such as in a case where the vehicle 2 is driving on a road, expressway, motorway, etc. (NO of process S200), the vehicle's driver assistance system 1 will continuously perform automatic longitudinal and lateral control in the current lane.

[0064] However, in process S400, if the detection unit 31 of the control unit 30 determines, based on the lane information extracted from the captured image, that the current vehicle is at a lane junction point (YES of process S200), the controller 32 can detect whether a vehicle that is an obstacle is present on the rear and lateral sides of the vehicle.

[0065] In particular, the driver assistance system 1 of the vehicle 2 can be operated in accordance with the present disclosure, as shown in Fig. As illustrated in Figure 4, in process S500, if a vehicle that is an obstacle is detected by the radar sensor 21 of vehicle 2 (Yes, operation S400), the system warns a user of the danger. In this case, the driver assistance system 1 of vehicle 2, in accordance with this disclosure, can visually warn the user of the danger using the display unit 41 or audibly warn the user of the danger using the sound unit 42. Furthermore, in process S600, the driver assistance system 1 of vehicle 2, in accordance with this disclosure, can deactivate the automatic longitudinal and lateral control of the vehicle.

[0066] But as in Fig. As illustrated in Figure 5, the driver assistance system 1 of the vehicle 2, in accordance with the present disclosure in operation S700, can then, if no vehicle that is an obstacle is detected on the rear and lateral sides using the radar sensor 21 of the vehicle 2 (NO of operation S400), proceed to perform a driver assistance by carrying out a lane change.

[0067] Next are Fig. 6 and Fig. 7 each a block diagram and a flowchart illustrating a driver assistance system of a vehicle in accordance with other embodiments of the present disclosure.

[0068] First, the vehicle's driver assistance system 1 indicates, with reference to Fig. 6 a navigation unit 15, the image capture unit 10, the obstacle detection unit 20, a control unit 300 and the warning unit 40.

[0069] In this case, the image acquisition unit 10, the obstacle detection unit 20, and the warning unit 40 can be operated in the same manner as described in Fig. 1 has been described.

[0070] As in Fig. As illustrated in Figure 6, the navigation unit 15, which is included in the vehicle's driver assistance system 1, can be connected to a vehicle communication network (NT) to receive various sensor values ​​measured by different sensors included in the vehicle and send a control signal, which has been processed inside the navigation unit 15, to the control unit 300.

[0071] In particular, the navigation unit 15 can include a GPS module (not illustrated) and can display position information of the current vehicle or determine a route by receiving position information from the current vehicle. Furthermore, the navigation unit 15 can display other lane information, including junction lane information and speed information for a road the vehicle is currently traveling on, to a user based on the received position information of the current vehicle.

[0072] The control unit 300 can control all operations of the vehicle's driver assistance system 1.

[0073] In particular, the control unit 300 may include a main processor and memory for storing programs and data, although these are not illustrated, as hardware components that mediate the output and input of data between various components contained in the vehicle's driver assistance system 1 and the control unit 300.

[0074] In particular, the memory (not illustrated) can temporarily store a control program and control data for controlling the operation of the vehicle's driver assistance system 1, road information received from the navigation unit 15, image information obtained from the image capture unit 10, a distance from an obstacle detected by the obstacle detection unit 20, vehicle speed information, various control signals output by the main processor (not illustrated), and the like.

[0075] The memory can include non-volatile memory, such as flash memory, ROM, EPROM, EEPROM or the like, as well as volatile memory, such as S-RAM, D-RAM or the like.

[0076] In particular, the non-volatile memory can semi-permanently store the control program and control data for controlling the operation of the vehicle's driver assistance system 1. For example, if the control unit 300 receives information from the navigation unit 15 indicating that the front of the road on which the current vehicle is traveling is an intersection, and an obstacle detected by the obstacle detection unit 20 is located on the side or rear of the vehicle, then the non-volatile memory can permanently store a safe distance for performing a lane change by means of automatic longitudinal and lateral control.

[0077] Furthermore, the volatile memory can read the control program and control data from the non-volatile memory and temporarily store the read control program and control data. After the control unit 300 receives the information from the navigation unit 15 indicating that the front of the road on which the current vehicle is driving is an intersection, the volatile memory can temporarily store the image taken by the image capture unit 10, the vehicle speed of the obstacle detected by the obstacle detection unit 20, the distance to the vehicle, and various control signals output by the main processor.

[0078] Furthermore, such a control unit 300 has a detection unit 310, which, based on the image taken by the image acquisition unit 10, re-determines in a software manner from the navigation unit 15, after receiving information indicating that the front of the road on which the current vehicle is traveling is an intersection, whether the current vehicle is on an intersection, and a controller 320, which performs lane keeping and lane change control based on intersection lane information determined by the detection unit 310, as described in Fig. 1 is illustrated.

[0079] First, when the investigation unit 310 receives information from the navigation unit 15 indicating that the front of the road on which the current vehicle is traveling is an intersecting road, it can re-determine from the lane information of the image taken by the image acquisition unit 10 whether the current vehicle is on an intersecting road that is a lane junction point.

[0080] In particular, in order to determine from the lane information of the image whether the current vehicle is on an intersection lane which is a lane junction point, the investigation unit 310 can determine that the current vehicle is on an intersection road if a movement lane and a lane of the intersection road are at a predetermined angle or more oblique to each other.

[0081] Next, the controller 320 can obtain obstacle information acquired by the obstacle detection unit 20 and perform automatic longitudinal and lateral control of the vehicle's driver assistance system 1. Specifically, with regard to the automatic longitudinal and lateral control of the vehicle's driver assistance system 1, lateral control can be performed to maintain the vehicle's lane position using an existing LKAS (Low Lane Keeping Assist System).

[0082] Furthermore, longitudinal control, in which braking or deceleration or acceleration is possible while maintaining a constant speed of the vehicle, can be carried out using an ACC system.

[0083] Next, when the detection unit 310 determines that the current vehicle is at a lane junction point and when an obstacle is detected within a predetermined distance by the obstacle detection unit 20, the controller 320 switches off the automatic longitudinal and lateral control of the vehicle's driver assistance system 1.

[0084] However, in a case where the detection unit 310 determines that the current vehicle is at a lane junction point, the controller 320 performs a lane change by lateral control for the convenience of a driver if the obstacle detection unit 20 does not detect an obstacle at the predetermined distance.

[0085] The control unit 300 sends the control signal via CAN communication, so that the warning unit 40 can warn a driver.

[0086] Fig. 7 and Fig. Figure 8 are flowcharts illustrating a method for controlling a driver assistance system of the vehicle 2 in accordance with other embodiments of the present disclosure.

[0087] As in Fig. As illustrated in Figure 7, the vehicle's driver assistance system 1 can recognize navigation information from the navigation unit during operation S101. In particular, the vehicle's driver assistance system 1 can obtain lane information, such as information indicating that a road on which a current vehicle is traveling is an intersection.

[0088] In this case, the vehicle's driver assistance system 1 can determine, based on the lane information obtained, whether the current vehicle is on an intersection road that is a lane junction point in operation S201.

[0089] This means that in process S401, if the detection unit 310 of the control unit 300 determines, based on the captured image, that the current vehicle is on an intersection lane which is a lane junction point (YES of process S201), the controller 320 can detect whether a vehicle that is an obstacle is present on the rear and lateral sides of the vehicle.

[0090] In particular, the driver assistance system 1 of the vehicle 2 can be used in accordance with the present disclosure in process S501, as described in Fig. As illustrated in Figure 7, if a vehicle that is an obstacle is detected on the rear and lateral sides of the vehicle by the radar sensor 21 of vehicle 2 (JA of process S401), the driver assistance system 1 of vehicle 2 can warn a user of the danger. In this case, in accordance with the present disclosure, the driver assistance system 1 of vehicle 2 can warn the user of the danger visually using the display unit 41 or audibly using the sound unit 42. Furthermore, in accordance with the present disclosure in process S601, the driver assistance system 1 of vehicle 2 can deactivate the automatic longitudinal and lateral control of the vehicle.

[0091] However, if no vehicle that is an obstacle is detected on the rear and lateral sides using the radar sensor 21 of vehicle 2 (NO of process S401), then the driver assistance system 1 of vehicle 2 can proceed to safely perform a driver assistance action by performing a lane change in accordance with the present disclosure in process S701.

[0092] But if a junction road traffic sign that is in Fig. As shown in Figure 8, a method for controlling the driver assistance system of the vehicle 2, in accordance with yet another embodiment of the present, can be disclosed as shown in Figure 8. Fig. Figure 9 illustrates this.

[0093] In particular, the vehicle's driver assistance system 1, as described in Fig.Figure 9 illustrates that in process S102, the radar sensor 21 is activated to detect an obstacle and the camera sensor is activated to capture a foreground image of the vehicle. In other words, the radar sensor 21 of the obstacle detection unit 20 can detect an obstacle located on the lateral and rear sides of the vehicle, and the camera sensor 11 of the image acquisition unit 10 can capture the foreground image and extract lane information.

[0094] In this case, if no junction traffic sign is detected by the captured image (NO in process S202), the vehicle's driver assistance system 1 can proceed with lane keeping control in the lane where the current vehicle is located during operation S300. Such lane keeping control refers to lane keeping in a lane where the vehicle is currently traveling, while also including lateral vehicle control.

[0095] However, in process S402, if a junction traffic sign is detected by the captured image (YES of process S202), the controller 32 can detect whether a vehicle that is an obstacle is present on the rear and lateral sides.

[0096] Accordingly, the driver assistance system 1 of vehicle 2, in accordance with the present disclosure in process S502, can warn a user of the danger when a vehicle that is an obstacle is detected by the radar sensor 21 of vehicle 2 (JA of process S402). In this case, the driver assistance system 1 of vehicle 2 can warn the user visually of the danger using the display unit 41 or audibly of the danger using the sound unit 42. Furthermore, the driver assistance system 1 of vehicle 2, in accordance with the present disclosure in process S602, can deactivate the automatic longitudinal and lateral control of the vehicle.

[0097] In process S702, the driver assistance system 1 of vehicle 2 can, in accordance with the present disclosure, if no vehicle that is an obstacle is detected on the rear and lateral sides by the radar sensor 21 of vehicle 2 (NO of process S402), proceed to safely perform a driver assistance by performing a lane change.

[0098] As described above, in accordance with the embodiments of the present disclosure, it is possible to prevent the occurrence of a situation in which a suitable ACC and a suitable lane change, which are to be controlled and regulated due to a vehicle ahead and a lane deviation, are not carried out when lanes disappear, such as at a junction of a road or expressway, motorway, etc., which leads to a dangerous situation.

[0099] Furthermore, it is possible to detect a connection point and warn a driver of the danger using a rear and side alarm system if an obstacle is present at the rear or side, thus helping the driver to safely perform a lane change.

[0100] Although some embodiments of the present disclosure have been shown and described, it should be clear to those skilled in the art that modifications to these embodiments can be made without departing from the principles and the inventive concept of the disclosure, the scope of protection of which is defined in the claims and their equivalents.

Claims

[1] Driver assistance system of a vehicle, with: an image capture unit (10) that captures a foreground image of the vehicle; an obstacle detection unit (20) that detects an obstacle on the lateral and rear sides of the vehicle; an investigative unit (31) which determines, on the basis of the recorded image, whether a current vehicle is located on an junction; and a control unit (30) that automatically changes the vehicle's lane when it is determined that the current vehicle is on the junction road and when no obstacle is detected on the lateral or rear side of the vehicle; where, if it is determined based on the recorded image that the current vehicle is located on the junction road, and if the obstacle is detected on the lateral or rear side of the vehicle, the control unit (30) switches off the automatic longitudinal and lateral control, which includes accelerating, decelerating or braking and lane keeping control of the vehicle. [2] Driver assistance system according to claim 1, further comprising: a warning unit (40) which warns a driver when, based on the image taken, it is determined that the current vehicle is on the junction road and when the obstacle is detected on the lateral or rear side of the vehicle. [3] Driver assistance system according to one of claims 1 to 2, wherein the detection unit (31) determines, on the basis of lane recognition information from the recorded image, whether the current vehicle is on the junction road. [4] Driver assistance system according to claim 1, wherein the detection unit (31) recognizes an intersection road sign on the basis of the recorded image and determines that the current vehicle is on the intersection road when it recognizes the intersection road sign. [5] Driver assistance procedures of a vehicle which include the following steps: Taking a foreground image of the vehicle; Detecting an obstacle on the lateral and rear sides of the vehicle; Determine, based on lane recognition information from the captured image, whether a current vehicle is on an intersection; Performing automatic longitudinal and lateral control of the vehicle based on the foreground image; Automatic lane changing of the vehicle when, based on lane detection information, it is determined that the current vehicle is on the junction road, and when no obstacle is detected on the side or rear of the vehicle; and Deactivation of the vehicle's automatic longitudinal and lateral control when, based on lane detection information, it is determined that the current vehicle is on the junction road, and when the obstacle is detected on the lateral or rear side of the vehicle. [6] Driver assistance method according to claim 5, further comprising the following step: Warning a user when, based on lane detection information, it is determined that the current vehicle is on the junction road, and when the obstacle is detected on the lateral or rear side of the vehicle. [7] Driver assistance method according to one of claims 5 to 6, wherein the automatic longitudinal and lateral control comprises accelerating, decelerating or braking and lane keeping control of the vehicle. [8] Driver assistance system of a vehicle, with: a navigation unit (15) that receives road information about a road on which the vehicle is currently driving; an obstacle detection unit (20) that detects an obstacle on the lateral and rear sides of the vehicle; an investigation unit (310) which determines, on the basis of road information, whether a current vehicle is on an intersection road; a control unit (300) that automatically changes the vehicle's lane when it is determined that the current vehicle is on the junction road and when no obstacle is detected on the side or rear of the vehicle; and an image acquisition unit (10) that captures a foreground image of the vehicle, the investigation unit (310) uses the recorded image to determine whether the current vehicle is on the junction road; whereupon, if it is determined that the current vehicle is on the junction road, and if the obstacle is detected on the lateral or rear side of the vehicle, the control unit (300) switches off the automatic longitudinal and lateral control, which includes accelerating, decelerating or braking and lane keeping control of the vehicle, or warns a driver. [9] Driver assistance system according to claim 8, wherein the detection unit (310) determines, on the basis of lane recognition information from the recorded image, whether the current vehicle is on the junction road. [10] Driver assistance system according to claim 8, wherein the detection unit (310) detects an intersection road sign on the basis of a recorded image and determines that the current vehicle is on the intersection road when it detects the intersection road sign.

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