운전자 보조 장치는, 차량에 설치되어, 상기 차량 주변의 시야를 가지며, 이미지 데이터를 획득하는 카메라; 및 상기 이미지 데이터를 처리하는 제어부를 포함할 수 있다. 상기 제어부는, 상기 차량이 주행하는 차로와 연결된 차로들의 중심선들을 획득하고, 상기 이미지 데이터를 처리하는 것에 기초하여, 상기 차량 주변에 위치하는 객체를 식별하고, 상기 객체의 위치와 상기 중심선들에 기초하여 상기 객체의 이동 가능한 복수의 궤적들을 식별하고, 상기 복수의 궤적들 중에 예측 궤적을 선택하고, 상기 예측 궤적을 회피하는 상기 차량의 주행 궤적을 생성할 수 있다.

    Disclosed herein is a driver assistance apparatus including a camera installed on a vehicle, having a field of view around the vehicle, and configured to acquire image data and a controller configured to process the image data. The controller may acquire center lines of lanes connected to a lane on which the vehicle travels, identify an object positioned around the vehicle based on the processed image data, identify a plurality of trajectories along which the object is movable based on a position of the object and the center lines, select a predicted trajectory among the plurality of trajectories, and generate a target trajectory of the vehicle avoiding the predicted trajectory.


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    Title :

    DRIVER ASSISTANCE APPARATUS AND DRIVER ASSISTANCE METHOD


    Additional title:

    운전자 보조 장치 및 운전자 보조 방법


    Contributors:
    INHAN KIM (author)

    Publication date :

    2023-09-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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