According to the present invention, a driving support apparatus comprises: a first detection unit to use one or more cameras and one or more radars to monitor a front of a vehicle, a front of both sides of the vehicle, and both sides of the vehicle to detect an object; an estimation unit to tract one or more objects detected in at least one area among the front, the front of both sides, and both sides to estimate movements of the objects; a selection unit to select a target object which is one among the objects based on conditions including the movements; a determination unit to calculate time to collision (TTC) with the target object to determine a collision risk in three steps based on the time to collision; a first control unit to partially control a brake device of the vehicle if the collision risk with the target object is a second step; a second detection unit to monitor a rear of the vehicle to detect a rear object if the collision risk with the target object is a third step; and a second control unit to control the brake device and a steering device based on whether a rear object is detected.
본 발명은 하나 이상의 카메라 및 하나 이상의 레이다를 이용하여 자차량의 전방, 자차량의 양측전방 및 자차량의 양측방을 감시하여 물체를 감지하는 제1 감지부와 전방, 양측전방 및 양측방 중 적어도 하나의 영역에서 감지된 하나 이상의 물체를 추적하여 물체의 움직임을 추정하는 추정부와 움직임을 포함하는 조건들에 기초하여 하나 이상의 물체 중 하나인 타겟물체를 선정하는 선정부와 타겟물체와의 충돌소요시간(Time To Collision, TTC)을 산출하고, 충돌소요시간에 기초하여 충돌위험을 3단계로 판단하는 판단부와 타겟물체와의 충돌위험이 2단계이면, 차량의 제동장치를 일부 제어하는 제1 제어부와 타겟물체와의 충돌위험이 높은 3단계이면, 자차량의 후방을 감시하여 후방물체를 감지하는 제2 감지부 및 후방물체의 감지여부에 기초하여 제동장치 또는 조향장치를 제어하는 제2 제어부를 포함하는 운전지원장치에 관한 것이다.
DRIVING ASSISTANT APPARATUS AND DRIVING ASSISTANT METHOD
운전지원장치 및 운전지원방법
2017-03-22
Patent
Electronic Resource
Korean
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
DRIVING ASSISTANT APPARATUS AND DRIVING ASSISTANT METHOD
European Patent Office | 2017
|DRIVING ASSISTANT APPARATUS AND DRIVING ASSISTANT METHOD
European Patent Office | 2017
|DRIVING ASSISTANT APPARATUS AND DRIVING ASSISTANT METHOD
European Patent Office | 2017
|DRIVING ASSISTANT APPARATUS AND DRIVING ASSISTANT METHOD
European Patent Office | 2017
|