Patent ID: 9352689
Filing Date: 2016-05-31
CPC Classification: B60G,B60Q,B60R,B60T,B60W,B62D,G01M,G06K,G07C

Claim Text:
1. A driver assistance apparatus comprising: a stereo camera to acquire stereo images; a sensor unit to sense a travel state of a vehicle; and a processor in communication with the stereo camera and the sensor unit, the processor to diagnose a part of the vehicle based on the stereo images received from the stereo camera and the vehicle travel state sensed by the sensor unit, wherein the processor calculates vehicle heading information based on the stereo images, detects vehicle heading information from a steering wheel sensor of the sensor unit, and determines whether a steering apparatus or a tire of the vehicle is abnormal based on the calculated vehicle heading information and the detected vehicle heading information.