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KR-102963805-B1 - DRIVER ASSISTANCE SYSTEM AND CONTROL METHOD THEREOF

KR102963805B1KR 102963805 B1KR102963805 B1KR 102963805B1KR-102963805-B1

Abstract

A driver assistance system according to one embodiment includes a driver camera that captures a driver image including the driver's face, and a control unit that tracks the driver's head direction and gaze direction from driver image data obtained from the driver camera, expands the detection area beyond the basic detection area based on the tracked head direction and gaze direction, and controls the vehicle by applying the expanded detection area.

Inventors

  • 박지열

Assignees

  • 주식회사 에이치엘클레무브

Dates

Publication Date
20260513
Application Date
20201215

Claims (18)

  1. A driver camera that captures a driver image including the driver's face; and The control unit includes a driver image data obtained from the driver camera that tracks the driver's head direction and gaze direction, expands the detection area beyond the basic detection area based on the tracked head direction and gaze direction, and controls the vehicle by applying the expanded detection area. The above control unit is, If the tracked line of sight is the front direction of the vehicle, the detection area is maintained as the basic detection area, and if it is not the front direction, the detection area is expanded to the total detection area by adding a unidirectionally expanded detection area, which is a detection area opposite to the tracked line of sight direction, to the basic detection area. The basic detection area is set according to the speed of the vehicle and the steering angle of the steering wheel, and If an obstacle exists in the expanded detection area, the control sensitivity is increased, and the vehicle is controlled by applying the increased control sensitivity. A driver assistance system that increases or decreases the control sensitivity by changing the distance to the obstacle used for collision warning or the timing of the collision warning to the obstacle.
  2. In paragraph 1, A driver assistance system in which the control unit sets the basic detection area based on a detection field of at least two of the following: a front camera having a detection field of view facing the front of the vehicle, a radar having a detection field of view facing the front and side of the vehicle, and a lidar having a detection field of view facing the front of the vehicle.
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  5. In paragraph 1, The above control unit is a driver assistance system that expands the detection area beyond the basic detection area based on the tracked head direction if the tracked head direction is not the front direction of the vehicle.
  6. In paragraph 5, The above control unit is a driver assistance system that expands the detection area from the basic detection area to an area expanded in the direction of the tracked head if the tracked head direction is within a preset angle range based on the front direction of the vehicle.
  7. In paragraph 6, The above control unit is a driver assistance system that expands the detection area from the basic detection area to an area expanded on both sides when the tracked head direction deviates from the preset angle range relative to the front direction of the vehicle.
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  10. Acquire driver video data from the driver camera, and Based on the above-mentioned driver video data, the driver's head direction and gaze direction are tracked, and Based on the above-mentioned tracked head direction and gaze direction, the detection area is expanded beyond the basic detection area, and Control the vehicle by applying an expanded detection area, and In expanding the detection area above the basic detection area, if the tracked line of sight direction is the front direction of the vehicle, the detection area is maintained as the basic detection area, and if it is not the front direction, the detection area is expanded to the total detection area by adding a unidirectionally expanded detection area, which is a detection area opposite to the tracked line of sight direction, to the basic detection area. Before acquiring the above driver image data, the basic detection area is set according to the vehicle speed and the steering angle of the steering wheel, and In controlling a vehicle by applying the expanded detection area, if an obstacle exists in the expanded detection area, the control sensitivity is increased, and the vehicle is controlled by applying the increased control sensitivity. A control method for a driver assistance system that increases or decreases the control sensitivity by changing the distance to the obstacle used for the collision warning or the timing of the collision warning to the obstacle in increasing the control sensitivity.
  11. In Paragraph 10, A control method for a driver assistance system that, before acquiring the driver image data, sets the basic detection area based on a detection field of at least two of the following: a front camera having a detection field of view facing the front of the vehicle, a radar having a detection field of view facing the front and side of the vehicle, and a lidar having a detection field of view facing the front of the vehicle.
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  14. In Paragraph 10, A control method for a driver assistance system that expands the detection area above the basic detection area, wherein if the tracked head direction is not the frontal direction of the vehicle, the detection area is expanded above the basic detection area based on the tracked head direction.
  15. In Paragraph 14, A control method for a driver assistance system that expands the detection area above the basic detection area, wherein if the tracked head direction is within a preset angle range relative to the front direction of the vehicle, the detection area is expanded from the basic detection area to an area expanded in the tracked head direction.
  16. In paragraph 15, A control method for a driver assistance system that expands the detection area beyond the basic detection area, wherein if the tracked head direction deviates from the preset angle range relative to the front direction of the vehicle, the detection area is expanded from the basic detection area to an area expanded on both sides.
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Description

Driver Assistance System and Control Method Thereof The disclosed invention relates to a driver assistance system and a method for controlling the same. Collisions between vehicles or collisions with obstacles, which are directly related to the safety of vehicle occupants, are always treated as a critical issue. Recently, much research has been conducted on collision warning and avoidance between preceding and following vehicles, and advanced driver assistance systems are being installed in vehicles. For example, a Driver Assistance System (DAS) may include an Adaptive Cruise Control (ACC) system that maintains a distance from a preceding vehicle or an Autonomous Emergence Braking (AEB) system that prevents collisions through emergency braking in dangerous situations. These driver assistance systems detect obstacles ahead within the detection area using a front camera or front radar mounted on the vehicle. For driver assistance systems, the ability to detect obstacles ahead and determine the appropriate braking timing are critical factors in system performance. The detection area of the driver assistance system is set based on the front of the vehicle. This is based on the premise that the driver's head and gaze are directed toward the front of the vehicle. However, conventionally, there is a risk of accidents if the driver cannot keep their eyes on the road ahead. FIG. 1 illustrates a control block of a driver assistance system according to one embodiment. FIG. 2 illustrates a front camera, radar, and driver camera of a driver assistance system according to one embodiment. FIG. 3 illustrates tracking the driver's head direction in a driver assistance system according to one embodiment. FIG. 4 illustrates tracking the driver's gaze direction in a driver assistance system according to one embodiment. FIG. 5 illustrates a basic detection area and an expandable detection area in a driver assistance system according to one embodiment. FIG. 6 illustrates a control method of a driver assistance system according to one embodiment. FIG. 7 illustrates a detection area in a driver assistance system according to one embodiment when both the driver's head direction and gaze direction are in the frontal direction. FIG. 8 illustrates a detection area in a driver assistance system according to one embodiment when the driver's head direction is forward and the gaze direction is not forward but to the right. FIG. 9 illustrates a detection area in a driver assistance system according to one embodiment when the driver's head direction is forward and the gaze direction is not forward but left. FIG. 10 illustrates a detection area in a driver assistance system according to one embodiment when the driver's head direction is to the right rather than the front direction. FIG. 11 illustrates a detection area in a driver assistance system according to one embodiment when the driver's head direction is to the left rather than the front. FIG. 12 illustrates a detection area in a driver assistance system according to one embodiment when the driver's head direction is not the front direction but the far right direction. FIG. 13 illustrates a detection area in a driver assistance system according to one embodiment when the driver's head direction is not the front direction but the far left direction. Throughout the specification, the same reference numerals refer to the same components. This specification does not describe all elements of the embodiments, and general content in the art to which the disclosed invention belongs or content that overlaps between embodiments is omitted. The terms ‘part, module, component, block’ as used in the specification may be implemented in software or hardware, and depending on the embodiments, a plurality of ‘parts, modules, components, blocks’ may be implemented as a single component, or a single ‘part, module, component, block’ may include a plurality of components. Throughout the specification, when a part is described as being “connected” to another part, this includes not only cases where they are directly connected but also cases where they are indirectly connected, and indirect connections include connections made via a wireless communication network. Furthermore, when it is stated that a part “includes” a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Throughout the specification, when it is stated that a component is located “on” another component, this includes not only cases where a component is in contact with another component, but also cases where another component exists between the two components. Terms such as "first," "second," etc., are used to distinguish one component from another, and the components are not limited by the aforementioned terms. A singular expression includes a plural expression unless the context clearly indicates an exception. In each step, identification codes a