Patent ID: 9731717
Date: 2017-08-15
CPC Classifications: B60W,G01S,G08G

Claim:
1. A method for operating a driver assistance apparatus, comprising the steps of: recognizing a driving environment of a vehicle by using a sensor module including at least two different sensors, wherein the step of recognizing the driving environment includes recognizing the vehicle as entering a low-speed section when a vehicle speed measured by a vehicle sensor is a reference speed or less for a predetermined time; determining a driving mode based on the driving environment when the vehicle enters the low-speed section, wherein the driving mode is determined to be one of a minor accident prevention mode or a pedestrian protection mode; determining, based on the driving mode, whether a collision is possible using at least one sensor of the sensor module; and controlling, using the at least one sensor, at least one of steering and braking of the vehicle based on whether the collision is possible, wherein the step of determining whether the collision is possible using the at least one sensor comprises: estimating a driving path of the vehicle based on vehicle information acquired by the vehicle sensor, when the driving mode is the minor accident prevention mode, and measuring a position of a pedestrian in a driving path of the vehicle using at least one of a camera, radar, and an ultrasonic sensor, and determining whether the pedestrian will potentially collide with the vehicle, when the driving mode is the pedestrian protection mode.