Driver assistance system and driver assistance method

Patent metadata

Field	Value
Publication number	US-12024167-B2
Application number	US-202217578876-A
Country	US
Kind code	B2
Filing date	Jan 19, 2022
Priority date	Jan 22, 2021
Publication date	Jul 2, 2024
Grant date	Jul 2, 2024

Abstract

A driver assistance system that may rapidly determine cutting out of a preceding vehicle based on lane information obtained from a camera, the driver assistance system includes: a first sensor mounted on a vehicle and configured to acquire front image data; a second sensor selected from a group comprising a radar sensor and a lidar sensor, mounted on the vehicle, and configured to acquire front detection data; and a controller configured to select a preceding vehicle as a target vehicle based on the front image data and the front detection data and control a speed of the vehicle to follow the target vehicle, wherein the controller is configured to: recognize a left land and a right lane of a driving lane based on the front image data, calculate a lateral speed of the preceding vehicle based on the front detection data, when a difference between a length of the left lane and a length of the right lane is greater than or equal to a preset value and the lateral speed of the preceding vehicle is greater than or equal to a preset speed, recognize the preceding vehicle as a cut-out vehicle, and recognize a preceding vehicle of the cut-out vehicle as the target vehicle.

First claim

What is claimed is:

1. A driver assistance system, comprising:
a first sensor mounted on a vehicle and configured to acquire front image data;
a second sensor selected from a group comprising a radar sensor and a lidar sensor, mounted on the vehicle, and configured to acquire front detection data; and
a controller configured to select a preceding vehicle as a target vehicle based on the front image data and the front detection data and control a speed of the vehicle to follow the target vehicle,
wherein the controller is configured to:
recognize a left land and a right lane of a driving lane based on the front image data,
calculate a lateral speed of the preceding vehicle based on the front detection data,
when a difference between a length of the left lane and a length of the right lane is greater than or equal to a preset value and the lateral speed of the preceding vehicle is greater than or equal to a preset speed, recognize the preceding vehicle as a cut-out vehicle, and recognize a preceding vehicle of the cut-out vehicle as the target vehicle.

2. The driver assistance system of claim 1 , wherein the controller is configured to control the speed of the vehicle to follow the preceding vehicle of the cut-out vehicle when the cut-out vehicle is recognized, and control the speed of the vehicle to prevent the vehicle from passing the cut-out vehicle before a lane change of the cut-out vehicle is complete.

3. The driver assistance system of claim 2 , wherein the controller is configured to determine a required acceleration of the vehicle based on a relative location of the cut-out vehicle and a relative speed of the preceding vehicle of the cut-out vehicle, before the lane change of the cut-out vehicle is complete.

4. The driver assistance system of claim 1 , wherein the controller is configured to determine that the cut-out vehicle changes lanes in a direction of a shorter lane of the left lane and the right lane.

5. The driver assistance system of claim 1 , wherein the controller is configured to recognize the cut-out vehicle as the target vehicle, when the cut-out vehicle has a speed in an opposite direction to a shorter lane of the left lane and the right lane.

6. The driver assistance system of claim 1 , wherein the controller is configured to determine that a cut-in vehicle that cuts in to the driving lane from an adjacent lane exists, when a difference between a distance between the vehicle and the preceding vehicle and a length of a shorter lane of the left lane and the right lane is greater than or equal to a threshold value.

7. The driver assistance system of claim 6 , wherein the controller is configured to recognize the cut-in vehicle as the target vehicle, when the cut-in vehicle exists.

8. A driver assistance method, comprising:
acquiring front image data of a vehicle;
acquiring front detection data of the vehicle;
selecting a preceding vehicle as a target vehicle based on the front image data and the front detection data; and
controlling a speed of the vehicle to follow the target vehicle,
wherein the selecting of the target vehicle comprises:
recognizing a left land and a right lane of a driving lane based on the front image data;
calculating a lateral speed of the preceding vehicle based on the front detection data;
when a difference between a length of the left lane and a length of the right lane is greater than or equal to a preset value and the lateral speed of the preceding vehicle is greater than or equal to a preset speed, recognizing the preceding vehicle as a cut-out vehicle, and recognizing a preceding vehicle of the cut-out vehicle as the target vehicle.

9. The driver assistance method of claim 8 , wherein the controlling of the speed of the vehicle to follow the target vehicle further comprises controlling the speed of the vehicle to follow the preceding vehicle of the cut-out vehicle when the cut-out vehicle is recognized, and controlling the speed of the vehicle to prevent the vehicle from passing the cut-out vehicle before a lane change of the cut-out vehicle is complete.

10. The driver assistance method of claim 9 , wherein the controlling of the speed of the vehicle to prevent the vehicle from passing the cut-out vehicle before the lane change of the cut-out vehicle is complete comprises determining a required acceleration of the vehicle based on a relative location of the cut-out vehicle and a relative speed of the preceding vehicle of the cut-out vehicle.

11. The driver assistance method of claim 8 , further comprising:
determining that the cut-out vehicle changes lanes in a direction of a shorter lane of the left lane and the right lane.

12. The driver assistance method of claim 8 , wherein the selecting of the target vehicle comprises recognizing the cut-out vehicle as the target vehicle, when the cut-out vehicle has a speed in an opposite direction to a shorter lane of the left lane and the right lane.

13. The driver assistance method of claim 8 , further comprising:
determining that a cut-in vehicle that cuts in to the driving lane from an adjacent lane exists, when a difference between a distance between the vehicle and the preceding vehicle and a length of a shorter lane of the left lane and the right lane is greater than or equal to a threshold value.

14. The driver assistance method of claim 13 , wherein the selecting of the target vehicle further comprises recognizing the cut-in vehicle as the target vehicle, when the cut-in vehicle exists.

15. A non-transitory computer-readable medium storing computer-executable instructions when executed by a processor, cause the processor to:
acquire front image data of a vehicle;
acquire front detection data of the vehicle;
select a preceding vehicle as a target vehicle based on the front image data and the front detection data; and
control a speed of the vehicle to follow the target vehicle,
wherein the instructions, when executed by the processor, further cause the processor to:
recognize a left land and a right lane of a driving lane based on the front image data,
calculate a lateral speed of the preceding vehicle based on the front detection data,
when a difference between a length of the left lane and a length of the right lane is greater than or equal to a preset value and the lateral speed of the preceding vehicle is greater than or equal to a preset speed, recognize the preceding vehicle as a cut-out vehicle, and recognize a preceding vehicle of the cut-out vehicle as the target vehicle.

16. The non-transitory computer-readable medium of claim 15 , wherein the instructions, when executed by the processor, further cause the processor to:
control the speed of the vehicle to follow the preceding vehicle of the cut-out vehicle when the cut-out vehicle is recognized, and control the speed of the vehicle to prevent the vehicle from passing the cut-out vehicle before a lane change of the cut-out vehicle is complete.

17. The non-transitory computer-readable medium of claim 16 , wherein the instructions, when executed by the processor, further cause the processor to:
determine a required acceleration of the vehicle based on a relative location of the cut-out vehicle and a relative speed of the preceding vehicle of the cut-out vehicle.

18. The non-transitory computer-readable medium of claim 15 , wherein the instructions, when executed by the processor, further cause the processor to:
determine that the cut-out vehicle changes lanes in a direction of a shorter lane of the left lane and the right lane.

19. The non-transitory c

Assignees

• Hl Klemove Corp

Inventors

• Kang Boryeon

Classifications

• B60W2420/408

  Radar; Laser, e.g. lidar · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• B60W2554/4045

  Intention, e.g. lane change or imminent movement · CPC title

• B60W2720/10

  Longitudinal speed · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title