Patent ID: 11945468
Assignee: HL KLEMOVE CORP.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 15:
16. A driver assistance system (DAS), comprising:
a camera installed on a host vehicle, having a field of view in front of the host vehicle, and configured to acquire image data;
a sensor configured to have at least one detection field of the front and side of the host vehicle, and obtain detection data in the group consisting of a radar sensor and a lidar sensor which are installed in the host vehicle;
a controller including a processor configured to process the image data and the detection data,
wherein the controller is configured to:
identify at least one object obstructing a driving of the host vehicle based on the image data and the detection data,
identify a position and speed of at least one object based on the image data and the detection data,
identify a stopped vehicle among the at least one object based on the image data,
set a free-space candidate based on the position and speed of the at least one object,
set a free-space as a space reduced from the free-space candidate by a movable range in which the stopped vehicle can travel from a current relative position thereof for a reference time,
set a driving route for the host vehicle to travel within the free-space, and
control at least one of a braking device or a steering device of the host vehicle so that the host vehicle travels along the driving route.