Device and method for controlling a vehicle

Abstract

A method for controlling a vehicle by monitoring the condition of a driver, comprising: a range setting step for establishing a first steering control range (151a), a first steering warning range (152a), a brake control range (153) and a first brake warning range of the vehicle; a driver state determining step for determining the state of the driver by monitoring a state of the driver; and a range resetting step for resetting, when the driver's condition is in an abnormal state in the driver condition determining step, a first steering control area (151a) of the vehicle, a first steering warning area (152a) and a first brake warning area, and thus for setting a second steering control area (151b), a second steering warning area (152b) and a second brake warning area, wherein the brake control area (153), the first brake warning area and the second brake warning area are formed based on a distance to a front vehicle; a distance of the first brake warning area to the vehicle in front is shorter than a distance of the second brake warning area; and a distance of the brake control area (153) is shorter than the distance of the first brake warning area, and wherein the first brake warning area includes a first plurality of sections according to respective distances; and the second brake warning area includes a second plurality of sections according to respective distances in response to the first brake warning area composed of the first plurality of sections.

Description

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of Korean Patent Application No. 2015-0010578, filed on January 22, 2015, with the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference. BACKGROUND1. Area

[0002] Embodiments of the present invention relate to an apparatus and method for controlling a vehicle, and more particularly to an apparatus and method for controlling a vehicle such that steering and braking of the vehicle are controlled by monitoring a condition of a vehicle driver. 2. Description of the state of the art

[0003] Driving condition monitoring (DSM) refers to a device that captures images of a driver's face or the like using a camera embedded in the vehicle and obtains information regarding the direction of the driver's face and eye movement from the captured face image so that it can determine whether the driver feels drowsy or performs careless driving caused by mental or physical fatigue.

[0004] The Lane Keeping Assist System (LKAS) is a device that captures an image of an area in front of the vehicle using a front camera embedded in the vehicle and actively controls a steering device so that the vehicle does not deviate from a current lane.

[0005] A conventional LKAS determines whether a vehicle is deviating from a current lane or is scheduled to leave the current lane. If the vehicle has deviated from the current lane or is scheduled to leave the current lane, the conventional LKAS performs lane-keeping control in such a way that the vehicle can maintain the current lane, or issues a lane departure warning to inform the driver of a lane departure condition or a lane departure expectation condition.

[0006] However, assuming that the driver is drowsy while driving or driving carelessly due to mental or physical fatigue, it is impossible to normalize the driving of the vehicle at the proper time using only the LKAS, resulting in a reduction in driving safety.

[0007] For example, Korean patent application publication KR 10 1999 0 050 660 A describes a driving condition monitoring system.

[0008] Furthermore, the document DE 10 2012 102 459 A1 discloses a method for adapting at least one control parameter of a safety-relevant system of a vehicle and a safety-relevant system in which the method is applied, wherein the adaptation of the at least one control parameter takes place as a function of a determined driving condition.

[0009] The document DE 10 2004 048 010 A1 describes a method and a device for driver assistance, in which the warning signal generated when leaving the lane depends on the lane used and / or the side to which the lane is left and / or the driver's behavior.

[0010] Document DE 10 2013 009 422 A1 describes a method and a device for transferring a vehicle traveling with lateral guidance support to a driving state with a reduced risk of collision consequences in the event of a driver emergency, wherein the vehicle speed is greater than a predetermined limit speed and wherein the vehicle has longitudinal guidance support and an environment monitoring system. The following steps are performed: detecting a hands-off situation of the driver and issuing a hands-off warning in a hands-off phase, performing a warning escalation in an escalation phase if there is no response to the hands-off warning, and reducing the vehicle speed in an intervention phase to a speed less than or equal to a limit speed if there is no response to the escalation phase.At least in the intervention phase, longitudinal guidance support of the vehicle is provided in the following way: active longitudinal guidance support is maintained in the intervention phase, passive longitudinal guidance support is activated in the intervention phase, and if longitudinal guidance support is deactivated, the surroundings monitoring system is set up in such a way that collision-avoiding braking intervention is carried out to avoid a collision with a vehicle in front if the vehicle collides with a vehicle in front. SUMMARY

[0011] It is an object of the present invention to provide an apparatus and a method for controlling a vehicle that can control steering and braking of the vehicle when a driver is in an abnormal state according to the monitoring result of the driver's state, and can perform steering warning and braking warning at an early stage.

[0012] The object is achieved according to the invention by the subject matter of the independent patent claims. Additional aspects of the invention are set forth in part in the following description and in part will be obvious from the description, or may be learned by practicing the invention.

[0013] According to one aspect of the present invention, a method for controlling a vehicle by monitoring the state of a driver includes: a region setting step of establishing a first steering control region, a first steering warning region, a brake control region, and a first brake warning region of the vehicle; a driver state determining step of determining the driver state by monitoring a state of the driver; and a region resetting step of, when the driver state is in an abnormal state in the driver state determining step, resetting a first steering control region of the vehicle, a first steering warning region, and a first brake warning region in the region setting region, and thus setting a second steering control region, a second steering warning region, and a second brake warning region.

[0014] The second steering control range may be larger than the first steering control range, the second steering warning range may be larger than the first steering warning range, and the second braking warning range may be larger than the first braking warning range.

[0015] The method may further include: a steering control area entry determination step in which the vehicle enters the second steering control area established in the area reset step; a steering control step in which, when the vehicle enters the second steering control area in the steering control area entry determination step, the vehicle is steered; a steering warning area entry determination step in which the vehicle enters the second steering warning area established in the area reset step; a steering warning step for warning the vehicle driver that the vehicle has entered the second steering warning area in the steering warning area entry determination step; a braking warning area entry determination step for determining whether the vehicle enters the second braking warning area established in the area reset step.a brake warning step for warning the vehicle driver that the vehicle has entered the second brake warning area in the brake warning area entry determination step; a brake control area entry determination step for determining whether the vehicle enters the brake control area established in the area setting step; and a brake control step for performing braking of the vehicle when the vehicle has entered the brake control area in the brake control area entry determination step.

[0016] The first steering control area, the first steering warning area, the second steering warning control area, and the second steering warning area may be formed along a vehicle lane; the first steering control area may have a greater width than the first steering warning area; and the second steering control area may have a greater width than the second steering warning area.

[0017] The first steering control area, the first steering warning area, the second steering control area, and the second steering warning area may be formed along a driving lane, the second steering warning area may have a larger width than the first steering control area; and the first steering control area may have a larger width than the first steering warning area.

[0018] The brake control area, the first brake warning area, and the second brake warning area may be formed based on a distance to a front vehicle; a distance of the first brake warning area is shorter than a distance to the second brake warning area; and a distance of the brake control area is shorter than a distance of the first brake warning area.

[0019] The first brake warning area may include a plurality of sections according to respective distances; and the second brake warning area may include a plurality of sections according to respective distances in response to the first brake warning area composed of the plurality of sections.

[0020] The first brake warning area may include a first warning area, a second warning area, and a third warning area. The second brake warning area may include a first early warning area and a second early warning area, wherein a warning start time of the first early warning area is earlier than that of the first warning area, and a warning start time of the second early warning area is earlier than that of the second warning area.

[0021] The distance of the brake control area can be identical to the distance of the third warning area.

[0022] According to another aspect of the present invention, an apparatus for controlling a vehicle by monitoring the state of a driver includes: a sensor unit configured to detect at least two of a steering angle, a steering angular velocity, a lateral acceleration, and a vehicle speed; a front camera configured to capture an image of the area in front of the vehicle; a driver camera configured to capture an image of the driver; a driver state determination unit configured to determine a state of the driver according to the image captured by the driver camera; a control device configured to control steering and braking of the vehicle according to the determination result of the driver state determination unit;and a warning unit configured to warn the driver of a dangerous condition according to a control signal from the control device, wherein a steering control area for determining the steering control of the vehicle, a steering warning area for determining a steering warning of the vehicle, a brake control area for determining a braking control of the vehicle, and a brake warning area for determining a braking warning of the vehicle are established in the control device, and the control device readjusts the steering control area, the steering warning area, and the brake warning area according to the determination result of the driver condition determination unit.

[0023] When the driver is in an abnormal state according to the determination result of the driver state determination unit, the control device may perform readjustment of respective areas in a manner that the steering control area, the steering warning area, and the brake warning area are expanded in size.

[0024] The brake warning area may include a first warning area, a second warning area, and a third warning area according to a distance to a vehicle ahead. When the driver is in the abnormal state according to the determination result of the driver state decision unit, the control device may perform readjustment such that the first warning area and the second warning area are expanded in size.

[0025] When at least two of the detected steering angle, the detected steering angular velocity, the detected lateral acceleration, and the detected vehicle speed are higher than a predetermined threshold, the driver state determining unit may determine that the driver is in the abnormal state. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] These and / or other aspects of the invention will become apparent and more easily understood from the following description of the embodiments, given in conjunction with the accompanying drawings, of which: Fig. 1 is a block diagram illustrating a vehicle control device according to an embodiment of the present invention. Fig. 2 illustrates a steering warning section of the vehicle control device according to an embodiment of the present invention. Fig. 3 illustrates a steering control section of the vehicle control device according to an embodiment of the present invention. Fig. 4 illustrates the steering warning area and the steering control area of the vehicle control device according to an embodiment of the present invention. Fig. 5 illustrates the steering torque of the vehicle control device according to an embodiment of the present invention. Fig. 6 illustrates the brake control section and the brake control section of the vehicle control device according to an embodiment of the present invention. Fig. 7 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention. Fig. 8 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] Reference will now be made in detail to the embodiments of the present invention illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted where it would obscure the subject matter of the present invention. In the drawings, elements unrelated to the embodiments of the present invention have been omitted for clarity, and the size of the components may be exaggerated for clarity.

[0028] According to the Fig. 1 to 6, the vehicle control device for controlling a vehicle by monitoring a state of a driver driving the vehicle may include: a sensor unit 111, a front camera 120, a driver camera 130, a driver state determination unit 140, a control device 150, a steering unit 160, a braking unit 170, and a warning unit 180.

[0029] The sensor unit 110 can detect the steering angle and a vehicle speed of the vehicle.

[0030] The sensor unit 110 can detect the steering angle and the vehicle speed of the vehicle.

[0031] The sensor unit 110 may include a vehicle speed sensor and a steering angle sensor. The vehicle speed sensor may detect the vehicle speed. The vehicle sensor may be mounted on wheels of the vehicle to detect the vehicle speed based on the vehicle's wheel speed. The steering angle sensor may detect the steering angle of a steering wheel of the vehicle.

[0032] The front camera 120 can take an image of the area in front of the vehicle.

[0033] The front-facing camera 120 may include a complementary metal-oxide-semiconductor (CMOS) or charge-coupled device (CCD) image sensor to obtain digital image information or analog image information. The front-facing camera 120 may convert the analog image information into digital image information using an analog-to-digital converter (ADC).

[0034] The driver camera 130 can capture an image of the vehicle driver.

[0035] The driver camera 130 embedded in the vehicle can capture an image of the driver's face.

[0036] The driver camera 130 may include an image sensor using a complementary metal oxide semiconductor (CMOS) or a charge-coupled device (CCD) to obtain digital image information or analog image information. The driver camera 130 may convert the analog image information into digital image information using an analog-to-digital converter (ADC).

[0037] The driver state determining unit 140 may determine the state of the driver according to the image captured by the driver camera 130.

[0038] The driver state determination unit 140 may detect a current state of the vehicle driver to determine whether the driver is in a normal state or in an abnormal state.

[0039] The abnormal condition of the driver may indicate a drowsy condition or a condition of the driver's eyes deviating from looking forward.

[0040] The driver state determination unit 140 may determine the state of the driver based on the image of the driver's face captured by the driver camera 130.

[0041] For example, the driver state determination unit 140 may obtain the driver state information (e.g., the direction of the driver's face, the movement of the driver's eyes, etc.) from the captured image of the driver's face, and may determine the drowsiness or fatigue state of the driver based on the obtained driver state information.

[0042] The driver state determination unit 140 may execute the algorithm for determining the driver's forward gaze state. If the driver's drowsy or fatigued state is determined, the driver state determination unit 140 may determine that the driver is in the abnormal state.

[0043] The driver state determination unit 140 may be integrated with the control device 150 according to the design of the vehicle control device of the embodiment.

[0044] In addition, assuming that the degree of change of the steering angle based on the steering angle obtained from the sensor unit 110 is greater than a predetermined threshold, the driver state determining unit 140 may determine the drowsy state of the driver, so that it is determined that the driver is in the abnormal state.

[0045] The control device 150 can control the steering and braking operation of the vehicle according to the determination result of the driver state determination unit 140.

[0046] According to the Fig. 2 to 6, the steering control areas 151a, 151b, the steering warning areas 152a, 152b, the brake control area 153 and the brake warning areas 154a, 154b, 155a, 155b may be established in the control device 150.

[0047] The control device 150 may reset the steering control areas 151a, 151b, the steering warning areas 152a, 152b, the brake control area 153, and the brake warning areas 154a, 154b, 155a, 155b according to the determination result of the driver condition determination unit 140.

[0048] When the driver is in the abnormal state according to the determination result of the driver state determination unit 140, the control device 150 may reset respective areas such that the steering control areas 151a, 151b, the steering warning areas 152a, 152b, and the brake warning areas 154a, 154b, 155a, 155b are expanded in size.

[0049] The steering control areas 151a, 151b can determine the steering control of the vehicle.

[0050] The steering control areas 151a, 151b may include a first steering control area 151a and the second steering control area 151b.

[0051] The first steering control area 151a and the second steering control area 151b may be formed along the vehicle lanes.

[0052] The first steering control area 151a and the second steering control area 151b may be formed to have a predetermined width along the vehicle lanes. The second steering control area 151b may be wider than the first steering control area 151a.

[0053] The steering warning areas 152a, 152b can determine the steering warning of the vehicle.

[0054] The steering warning areas 152a, 152b may include the first steering warning area 152a and the second steering warning area 152b.

[0055] The first steering warning area 152a and the second steering warning area 152b may be arranged along the vehicle lanes.

[0056] The first steering warning area 152a and the second steering warning area 152b may be formed to have a predetermined width along the vehicle lanes. The second steering control area 152b may have a greater width than the first steering control area 152a.

[0057] In contrast, the first steering control area 151a may be wider than the first steering warning area 152a, and the second steering control area 151b may be wider than the second steering warning area 152b.

[0058] In addition, the second steering control area 151b may be wider than the second steering warning area 152b, the second steering control area 152b may be wider than the first steering warning area 151a, and the first steering control area 151a may be wider than the first steering warning area 152a.

[0059] The brake control section 153 can determine the brake control of the vehicle.

[0060] The brake control area 153 may be formed by a distance to the front vehicle.

[0061] The distance to the front vehicle may be calculated by the control device 150 based on the image captured by the front camera 120.

[0062] The brake warning areas 154a, 154b, 155a, 155b can determine the brake warning of the vehicle.

[0063] The brake warning areas 154a, 154b, 155a, 155b may include the first brake warning areas 154a, 155a and the second brake warning areas 154b, 155b.

[0064] The first brake warning areas 154a, 155a and the second brake warning areas 154b, 155b may be based on the distance to the vehicle in front.

[0065] The distance between the first brake warning area 154a or 155a and the front vehicle may be shorter than the other distance between the second brake warning area 154b or 155b and the front vehicle.

[0066] The distance to the brake control area 153 may be shorter than the distance to the first brake warning area 154a or 155a.

[0067] The first brake warning area 154a or 155a may include a plurality of sections according to respective distances. The second brake warning area 154b or 155b may include a plurality of sections according to respective distances in such a manner that the second brake warning areas 154b, 155b correspond to the first brake warning areas 154a and 155a, respectively.

[0068] The first brake warning areas 154a, 155a may include a first warning area 154a and a second warning area 155a. The second brake warning areas 154b, 155b may include a first early warning area 154b and a second early warning area 155b. Here, the warning start time of the first early warning area 154b may be earlier than that of the first warning area 154a, and the warning start time of the second early warning area 155b may be earlier than that of the second warning area 155a.

[0069] The first brake warning areas 154a, 155a and the second brake warning areas 154b, 155b may include a third warning area 156.

[0070] The warning start time of the third warning area 156 may be earlier than those of the first warning area 154a, the second warning area 155a, the first early warning area 154b, and the second early warning area 155b.

[0071] The distance to the front vehicle in the third warning area 156 may be identical in length to the distance to the brake control area 153.

[0072] When the first brake warning areas 154a, 155a and the second brake warning areas 154b, 155b include the third warning area 156, the control device 150 may reset the first warning area 154b and the second warning area 155a when the driver is in the abnormal state according to the decision result of the driver state determining unit 140, such that the first warning area 154b and the second warning area 155a may be expanded when the driver is in the abnormal state.

[0073] When the first brake warning areas 154a, 155a and the second brake warning areas 154b, 155b include the third warning area 156, the control device 150 may respectively reset the first warning area 154b and the second warning area 155a to the first early warning area 154b and the second early warning area 155b so that the distance between the front vehicle and the first warning area 154b and the distance between the second warning area 155a and the front vehicle can be extended when the driver is in the abnormal state.

[0074] The steering unit 160 may control the vehicle steering in response to a control signal from the control device 150.

[0075] The steering unit 160 can perform steering of the front wheels of the vehicle by adjusting the angle of the front wheels of the vehicle.

[0076] The steering unit 160 may generate a steering torque such that the vehicle maintains the current lane in response to the steering torque control command received from the controller 150.

[0077] The steering unit 160 can adjust the steering force of the vehicle and can enable the vehicle not to deviate from the current lane.

[0078] The steering unit 160 may be an electric power steering (EPS) unit.

[0079] The brake unit 170 can adjust the braking force of the vehicle.

[0080] The brake unit 170 can adjust the braking force of the vehicle by adjusting hydraulic pressure applied to the wheels of the vehicle.

[0081] The brake unit 170 can adjust the braking force of the vehicle by adjusting hydraulic pressure applied to at least one wheel of the vehicle.

[0082] The warning unit 180 may receive the warning control command from the control device 150 so as to inform the driver of a lane departure state or a lane departure expectation state.

[0083] The warning unit 180 may inform the driver of a vehicle collision expectation state according to a warning control command received from the control device 150.

[0084] The warning unit 180 may repeatedly inform the driver of the vehicle collision expectation state according to the distance to the front vehicle upon receiving the warning control command from the control device 150.

[0085] For example, the warning unit 180 may actuate a buzzer to generate the warning or alarm sound such that the warning unit 180 warns the driver of the lane departure condition or the collision expectation condition.

[0086] The scope or spirit of the warning unit 180 is not limited to specific embodiments and may be implemented as various human-machine interface (HMI) devices configured to warn the driver of the lane departure condition.

[0087] A method for controlling the vehicle according to an embodiment of the present invention will be described below with reference to the Fig. 7 and Fig. 8 described.

[0088] According to Fig. 7, the method for controlling the vehicle by monitoring the driver's state may include a range setting step S101, a driver state determining step S102, and a range resetting step S103.

[0089] The area setting step S101 may include a first steering control area 151a, the first steering warning area 152a, the brake control area 153, and the first brake warning areas 154a, 155a.

[0090] The driver state determining step S102 may monitor the driver's state to determine the resulting driver state.

[0091] When the driver is in the abnormal state in the driver condition determination step S102, the area resetting step S103 may perform the resetting of the first steering control area 151a, the first steering warning area 152a, and the first brake warning areas 154a, 155a set in the area setting step S101, such that the second steering control area 151b, the second steering warning area 152b, and the second brake warning areas 154b, 155b can be reset.

[0092] In addition, the vehicle control method for controlling the vehicle by monitoring the driver's state according to the embodiment may include: a range setting step S201, a driver state determination step S202, a range resetting step S203, a steering control range entry determination step S204, a steering control step S205, a steering warning range entry determination step S206, a steering warning step S207, a first brake warning range entry determination step S208, a first brake warning step S209, a second brake warning range entry determination step S210, a second brake warning step S211, a brake control range entry determination step S212, and a brake control step S213.

[0093] The area setting step S201, the driver condition determination step S202, and the area resetting step S203 are identical to the aforementioned area setting step S101, the aforementioned driver condition determination step S102, and the aforementioned area resetting step S103, and therefore, for the sake of simplicity of description, a detailed description thereof is omitted here.

[0094] The steering control area entry determination step S204 may determine whether the vehicle enters the second steering control area 151b established in the area resetting step S203.

[0095] If the driver is in the normal state in the driver state determination step S102, the steering control region entry determination step S204 may determine whether the vehicle enters the first steering control region 151a established in the region setting step S201. The aforementioned step of determining whether the vehicle enters the vehicle control region or the warning region established in the region setting step S201 when the driver is in the normal state may also be applied to the following steps to be described in a subsequent process without change.

[0096] The steering control step S205 may perform the steering of the vehicle when the vehicle enters the second steering control region 151b in the steering control region entry determination step S204.

[0097] The steering warning area entry determination step S206 may determine whether the vehicle enters the steering warning area 152b established in the area resetting step S203.

[0098] The steering warning step S207 may warn the driver that the vehicle has entered the second steering warning area 152b in the steering warning area entry determination step S206.

[0099] The first brake warning area entry determination step S208 may determine whether the vehicle enters the first early warning area 154b from the second brake warning areas 154b, 155b established in the area resetting step S203.

[0100] The first brake warning step S209 may warn the driver that the vehicle has entered the first early warning area 154b among the second brake warning areas 154b, 155b in the first brake warning area entry determination step S208.

[0101] The second brake warning area entry determination step S210 may determine whether the vehicle enters the second early warning area 155b from the second brake warning areas 154b, 155b established in the area resetting step S203.

[0102] The second brake warning step S211 may warn the driver in the second brake warning area entry determination step S210 that the vehicle has entered the second early warning area 155b among the second brake warning areas 154b, 155b.

[0103] The brake control area entry determination step S212 may determine whether the vehicle enters the brake control area 153 established in the area setting step S201.

[0104] The brake control step S213 may perform the braking of the vehicle when the vehicle has entered the brake control region 153 in the brake control region entry determination step S212.

[0105] The brake control step S213 can warn the driver that the vehicle is entering the third warning area 156.

[0106] As apparent from the above description, the apparatus and method for controlling the vehicle according to the embodiments can reset a steering control range according to a state of the driver, so that the running of the vehicle can be quickly stabilized.

[0107] In addition, the apparatus and method for controlling the vehicle according to the embodiments can determine the state of the driver for resetting the steering warning area and the brake warning area according to the same reference, so that the steering warning and the brake warning can be obtained simultaneously according to the state of the driver.

[0108] In addition, since the steering control and the braking control are performed simultaneously, the embodiments can perform the driving of the vehicle at the appropriate time even when the driver is in the abnormal state.

[0109] In addition, since the steering warning range and the braking warning range are reset according to the driver's condition, the embodiments can warn the driver of the abnormal driving condition caused by the driver's drowsiness or mental (or physical) fatigue.

[0110] Although a few embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.

Claims

[1] A method for controlling a vehicle by monitoring the condition of a driver, comprising: a range setting step for establishing a first steering control range (151a), a first steering warning range (152a), a brake control range (153) and a first brake warning range of the vehicle; a driver state determining step for determining the state of the driver by monitoring a state of the driver; and a range resetting step for resetting, when the driver's condition is in an abnormal state in the driver condition determining step, a first steering control area (151a) of the vehicle, a first steering warning area (152a) and a first brake warning area, and thus for setting a second steering control area (151b), a second steering warning area (152b) and a second brake warning area, wherein the brake control area (153), the first brake warning area and the second brake warning area are formed based on a distance to a front vehicle; a distance of the first brake warning area to the vehicle in front is shorter than a distance of the second brake warning area; and a distance of the brake control area (153) is shorter than the distance of the first brake warning area, and wherein the first brake warning area includes a first plurality of sections according to respective distances; and the second brake warning area includes a second plurality of sections according to respective distances in response to the first brake warning area composed of the first plurality of sections. [2] A method according to claim 1, wherein: the second steering control range (151b) is larger than the first steering control range (151a), the second steering warning range (152b) is larger than the first steering warning range (152a), and the second brake warning range is larger than the first brake warning range. [3] A method according to any one of claims 1 or 2, further comprising: a steering control area entry determination step in which the vehicle enters the second steering control area (151b) established in the area resetting step; a steering control step in which, when the vehicle enters the second steering control area (151b) in the steering control area entry determining step, the vehicle is steered; a steering warning area entry determination step in which the vehicle enters the second steering warning area (152b) established in the area resetting step; a steering warning step for warning the vehicle driver that the vehicle has entered the second steering warning area in the steering warning area entry determination step; a brake warning area entry determining step for determining whether the vehicle enters the second brake warning area established in the area resetting step; a brake warning step for warning the vehicle driver that the vehicle has entered the second brake warning area in the brake warning area entry determination step; a brake control area entry determining step for determining whether the vehicle enters the brake control area (153) established in the area setting step; and a brake control step for performing braking of the vehicle when the vehicle has entered the brake control region (153) in the brake control region entry determining step. [4] A method according to any one of claims 1 to 3, wherein: the first steering control area (151a), the first steering warning area (152a), the second steering control area (151b) and the second steering warning area (152b) are formed along a vehicle lane; the first steering control area (151a) is wider than the first steering warning area (152a); and the second steering control area (151b) is wider than the second steering warning area (152b). [5] A method according to any one of claims 1 to 4, wherein: the first steering control area (151a), the first steering warning area (152a), the second steering control area (151b) and the second steering warning area (152b) are formed along a lane; the second steering warning area (152b) is wider than the first steering control area (151a); and the first steering control area (151a) is wider than the first steering warning area (152a). [6] A method for controlling a vehicle by monitoring the condition of a driver, comprising: a range setting step for establishing a first steering control range (151a), a first steering warning range (152a), a brake control range (153) and a first brake warning range of the vehicle; a driver state determining step for determining the state of the driver by monitoring a state of the driver; and a range resetting step for resetting, when the driver's condition is in an abnormal state in the driver condition determining step, a first steering control area (151a) of the vehicle, a first steering warning area (152a) and a first brake warning area, and thus for setting a second steering control area (151b), a second steering warning area (152b) and a second brake warning area, wherein the brake control area (153), the first brake warning area and the second brake warning area is formed on the basis of a distance to a front vehicle; a distance of the first brake warning area to the front vehicle is shorter than a distance of the second brake warning area; and a distance of the brake control area (153) is shorter than the distance of the first brake warning area, and wherein the first brake warning area comprises a first warning area (154a), a second warning area (155a) and a third warning area (156); and the second brake warning area includes a first early warning area (154b) and a second early warning area (155b), and wherein a warning start time of the first early warning area (154b) is earlier than a warning start time of the first warning area (154a) and a warning start time of the second early warning area (155b) is earlier than a warning start time of the second warning area. [7] Method according to claim 6, wherein the distance of the brake control area (153) is identical to the distance of the third warning area (156). [8] A device for controlling a vehicle by monitoring the condition of a driver, comprising: a sensor unit (110) configured to detect at least two of a steering angle, a steering angular velocity, a lateral acceleration, and a vehicle speed; a front camera (120) configured to capture an image of the area in front of the vehicle; a driver camera (130) configured to capture an image of the driver; a driver state determining unit (140) configured to determine a state of the driver according to the image captured by the driver camera (130); a control device (150) configured to control the steering and braking of the vehicle according to the determination result of the driver state determination unit (140); and a warning unit (180) configured to warn the driver of a dangerous condition according to a control signal from the control device (150), wherein a steering control area (151a, 151b) for determining the steering control of the vehicle, a steering warning area (152a, 151b) for determining a steering warning of the vehicle, a brake control area (153) for determining a brake control of the vehicle, and a brake warning area for determining a brake warning of the vehicle are established in the control device (150), and the control device (150) performs a readjustment of the steering control area (151a, 151b), the steering warning area (152a, 152b), and the brake warning area according to the determination result of the driver state determination unit (140), wherein the control device, when the driver is in an abnormal state according to the determination result of the driver state determination unit (140), performs a readjustment of the respective areas in such a way that the steering control area (151a, 151b), the steering warning area (152a, 152b) and the brake warning area are expanded in size, wherein the brake warning area includes a first warning area, a second warning area, and a third warning area corresponding to a distance to a front vehicle; and the control device, when the driver is in an abnormal state according to the determination result of the driver state determination unit (140), performs readjustment in such a manner that the first warning area and the second warning area are expanded in size. [9] Apparatus according to claim 8, wherein: the driver state determining unit determines, when at least two of the detected steering angle, the detected steering angular velocity, the detected lateral acceleration, and the detected vehicle speed are greater than a predetermined threshold, that the driver is in the abnormal state.

Images