Patent ID: 11951996
Assignee: HL KLEMOVE CORP.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 10:
11. A vehicle, comprising:
a brake system;
an image acquisition part configured to acquire image information about an obstacle;
and
a driver assistance system configured to recognize a rotation direction of the vehicle body based on a yaw rate of the vehicle body detected by a yaw rate detector, recognize a position change of the obstacle in an image based on the acquired image information, recognize whether a moving direction of the vehicle body is a backward direction or a forward direction based on the recognized rotation direction of the vehicle body and the recognized position change of the obstacle, and when it is determined that the moving direction of the vehicle body is the backward direction, control to restrict braking of the brake system,
wherein the driver assistance system is configured to recognize a rotation direction of the obstacle corresponding to the recognized position change of the obstacle and when the rotation direction of the obstacle is the same as the recognized rotation direction of the vehicle body, recognize that the moving direction of the vehicle body is the backward direction.