APPARATUS FOR DRIVING ASSISTANCE, VEHICLE, AND METHOD FOR DRIVING ASSISTANCE

Disclosed herein is a driving assistance system. The driving assistance system includes a sensor including at least one of a camera, a radar, or a light detection and ranging (LiDAR), which has a field of sensing outside a vehicle, and a processor configured to process output data of the sensor. The processor acquires information on nearby objects of the vehicle based on the output data of the sensor, calculates a time to collision (TTC) based on the information on the nearby objects, compares the TTC with a reference value, and determines whether a warning is output or automatic braking is performed based on the comparison, and the reference value is based on a state of a brake lamp of the vehicle.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of Korean Patent Application No. 10-2022-0183463, filed on Dec. 23, 2022 in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference.

BACKGROUND

Embodiments of the present disclosure relate to an apparatus for driving assistance capable of automatically performing braking of a vehicle in an emergency situation, a vehicle including the same, and a method for driving assistance method.

2. Description of the Related Art

Vehicles are the most common transportation in modern society, and the number of people using the vehicles is increasing. Although there are advantages such as easy long-distance traveling and convenience of living with the development of a vehicle technology, a problem that road traffic conditions are worse and traffic congestion becomes serious in densely populated places such as Korea often occurs.

Recently, research on vehicles equipped with an advanced driver assistance system (ADAS) for actively providing information on a vehicle state, a driver state, and/or a nearby environment in order to reduce a driver's burden and enhance convenience is actively progressing.

For example, an ADAS mounted on vehicles may perform functions of lane departure warning (LDW), lane keeping assist (LKA), high beam assist (HBA), autonomous emergency braking (AEB), traffic sign recognition (TSR), adaptive cruise control (ACC), blind spot detection (BSD), etc.

SUMMARY

Therefore, it is an aspect of the present disclosure to provide a driving assistance system, a vehicle including the same, and a driving assistance method for providing an additional preparation time to a driver of a following vehicle when a brake lamp is out of order by differently applying reference values used for determining a warning output or automatic braking according to a state of the brake lamp of the vehicle.

In accordance with one aspect of the present disclosure, an apparatus for driving assistance includes a sensor including at least one of a camera, a radar, or a light detection and ranging (LiDAR), which has a field of sensing outside a vehicle, and a processor configured to process output data of the sensor. The processor acquires information on nearby objects of the vehicle based on the output data of the sensor, calculates a time to collision (TTC) based on the information on the nearby objects, compares the TTC with a reference value, and determines whether a warning is output or automatic braking is performed based on the comparison. The reference value is based on a state of a brake lamp of the vehicle.

The processor may determine that the warning is output or the automatic braking is performed when the TTC is smaller than the reference value.

The processor may compare the TTC with a first reference value when the state of the brake lamp is normal, and compare the TTC with a second reference value greater than the first reference value when the state of the brake lamp is abnormal.

The processor may determine that a required deceleration for the automatic braking is a first deceleration when the state of the brake lamp is normal, and determine that the required deceleration for the automatic braking is a second deceleration being a smaller than the first deceleration when the state of the brake lamp is abnormal.

A braking distance of the vehicle when the state of the brake lamp is abnormal may be longer than a braking distance of the vehicle when the state of the brake lamp is normal.

The processor may include a memory configured to store a memory configured to store a first table and a second table. The first table includes first reference values according to a velocity of the vehicle or a relative velocity between the vehicle and the nearby object. The second table includes second reference values according to the velocity of the vehicle or the relative velocity.

The processor may transmit a control signal to a braking device to brake the vehicle according to the first deceleration when the state of the brake lamp is normal, and transmit the control signal to the braking device to brake the vehicle according to the second deceleration when the state of the brake lamp is abnormal.

In accordance with another aspect of the present disclosure, a vehicle includes a braking device configured to brake the vehicle, a brake lamp turned on upon braking of the vehicle and provided at a rear of the vehicle, a sensor including at least one of a camera, a radar, or a light detection and ranging (LiDAR), which has a field of sensing outside the vehicle, and a processor configured to process output data of the sensor. The processor acquires information on nearby objects of the vehicle based on the output data of the sensor, calculates a time to collision (TTC) based on the information on the nearby objects, compares the TTC with a reference value that varies depending on a state of the brake lamp, and determines whether a warning is output or automatic braking is performed based on the comparison. The reference value is based on a state of a brake lamp of the vehicle.

In accordance with still another aspect of the present disclosure, a method for driving assistance includes acquiring information on nearby objects of a vehicle, calculating a time to collision (TTC) based on the information on the nearby objects, comparing the TTC with a reference value, and determining whether a warning is output or automatic braking is performed based on the comparison. The reference value is based on a state of a brake lamp of the vehicle.

The determining of whether the warning is output or the automatic braking is performed may include determining that the warning is output or the automatic braking is performed when the TTC is smaller than the reference value.

The comparing of the TTC with the reference value may include comparing the TTC with a first reference value when the state of the brake lamp is normal, and comparing the TTC with a second reference value greater than the first reference value when the state of the brake lamp is abnormal.

The method may further include determining that a required deceleration for the automatic braking is a first deceleration when the state of the brake lamp is normal, and determining that the required deceleration for the automatic braking is a second deceleration being a smaller than the first deceleration when the state of the brake lamp is abnormal.

The method may further include storing a first table and a second table. The first table includes first reference values according to a velocity of the vehicle or a relative velocity between the vehicle and the nearby object. The second table includes second reference values according to the velocity of the vehicle or the relative velocity.

The driving assistance method may further include transmitting a control signal to the braking device to brake the vehicle according to the first deceleration when the state of the brake lamp is normal, and transmitting the control signal to the braking device to brake the vehicle according to the second deceleration when the state of the brake lamp is abnormal.

DETAILED DESCRIPTION

The following detailed description is provided to assist the reader in gaining a comprehensive understanding of the methods, apparatuses, and/or systems described herein. Accordingly, various changes, modifications, and equivalents of the methods, apparatuses, and/or systems described herein will be suggested to those of ordinary skill in the art. The progression of processing operations described is an example; however, the sequence of and/or operations is not limited to that set forth herein and may be changed as is known in the art, with the exception of operations necessarily occurring in a particular order. In addition, respective descriptions of well-known functions and constructions may be omitted for increased clarity and conciseness.

Additionally, exemplary embodiments will now be described more fully hereinafter with reference to the accompanying drawings. The exemplary embodiments may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. These embodiments are provided so that this disclosure will be thorough and complete and will fully convey the exemplary embodiments to those of ordinary skill in the art. Like numerals denote like elements throughout.

It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. As used herein, the term “and/or,” includes any and all combinations of one or more of the associated listed items.

The expression, “at least one of a, b, and c,” should be understood as including only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.

FIG.1is a block diagram illustrating operations of a vehicle and a driving assistance system included therein according to one embodiment, andFIG.2is a view illustrating fields of view of a camera, a radar, and a light detection and ranging (LIDAR) included in the vehicle according to one embodiment.

As illustrated inFIG.1, a vehicle1may include a driving device20, a braking device30, a steering device40, a display device50, an audio device60, a lamp70, and a driving assistance system100.

In addition, although not illustrated in the drawings, the vehicle1may further include a behavior sensor for detecting a dynamic of the vehicle1. For example, the behavior sensor may include at least one of a vehicle velocity sensor for detecting a longitudinal velocity of the vehicle1, an acceleration sensor for detecting a longitudinal acceleration and a transverse acceleration of the vehicle1, or a gyro sensor for detecting a yaw rate, a roll rate, and a pitch rate of the vehicle1.

In addition, the vehicle1may further include a navigation device. The navigation device may generate a route to a destination input by a driver and provide the generated route to the driver. The navigation device may receive a Global Navigation Satellite System (GNSS) signal from a GNSS and identify an absolute position (coordinates) of the vehicle1based on the GNSS signal. The navigation device may generate the route to the destination based on a position (coordinates) of the destination input by the driver and a current position (coordinates) of the vehicle1.

The above-described components may transmit or receive data via a vehicle communication network. For example, the above-described components included in the vehicle1may transmit or receive data via the vehicle communication network such as Ethernet, media oriented systems transport (MOST), Flexray, a controller area network (CAN), or a local interconnect network (LIN).

The driving device20generates power required for moving the vehicle1. The driving device20may include, for example, an engine, an engine management system (EMS), a transmission, and a transmission control unit (TCU).

The engine may generate power for the vehicle1to travel, and the EMS may control the engine in response to a driver's acceleration intention transmitted through an accelerator pedal or a request of the driving assistance system100. The transmission may transmit the power generated by the engine to wheels for deceleration, and the TCU may control the transmission in response to a driver's transmission instruction transmitted through a transmission lever and/or a request of the driving assistance system100.

Alternatively, the driving device20may include a driving motor, a reducer, a battery, a power control device, etc. In this case, the vehicle1may be implemented as an electric vehicle.

Alternatively, the driving device20may include both engine-related devices and driving motor-related devices. In this case, the vehicle1may be implemented as a hybrid electric vehicle.

The braking device30may decelerate the vehicle1. For example, the braking device30may include a brake caliper and an electronic brake control module (EBCM). The brake caliper may decelerate the vehicle1or stop the vehicle1using friction with a brake disk.

The EBCM may control the brake caliper in response to a driver's braking intention transmitted through a brake pedal or a request of the driving assistance system100. For example, the EBCM may receive a deceleration request including a deceleration from the driving assistance system100and electrically or hydraulically control the brake caliper so that the vehicle1decelerates based on the requested deceleration.

The steering device40may include an electronic power steering control module (EPS). The steering device40may change a traveling direction of the vehicle1, and the EPS may assist with an operation of the steering device40so that the driver may easily manipulate a steering wheel in response to a driver's steering intention transmitted through a steering wheel.

In addition, the EPS may control the steering device40in response to a request of the driving assistance system100. For example, the EPS may receive a steering request including a steering torque from the driving assistance system100and control the steering device40to steer the vehicle1based on the requested steering torque.

The display device50may include a cluster, a head-up display, a center fascia monitor, and the like and provide various pieces of information and entertainments to the driver through images. For example, the display device50may provide traveling information of the vehicle1, a warning message, etc., to the driver.

The audio device60may include a plurality of speakers and provide various pieces of information and entertainments to the driver through sounds. For example, the audio device60may provide traveling information of the vehicle1, a warning message, etc., to the driver.

The lamp70may include a plurality of lamps provided at an outer side of the vehicle1, and each of the plurality of lamps may perform a different function depending on each provided position. For example, front lamps provided at a front of the vehicle1may be used to secure the driver's vision, and rear lamps provided at the rear of the vehicle1may inform a driver of a following vehicle of information on a dynamic or moving route of the vehicle1.

The driving assistance system100according to one embodiment may communicate with the driving device20, the braking device30, the steering device40, the display device50, and the audio device60via the vehicle communication network. The driving assistance system100may use data received from other components of the vehicle1as a basis for recognition and determination and transmit control signals for controlling the vehicle1to the other components of the vehicle1based on the recognition and determination results.

The driving assistance system100may provide various functions for safety to the driver and furthermore, may also be used for autonomous driving of the vehicle1. For example, the driving assistance system may provide functions of lane departure warning (LDW), lane keeping assist (LKA), high beam assist (HBA), autonomous emergency braking (AEB), traffic sign recognition (TSR), adaptive cruise control (ACC), blind spot detection (BSD), etc.

The driving assistance system100may include a controller110, a camera120, a radar130, and a LIDAR140in order to perform the above-described functions.

The controller110, the camera120, the radar130, and the LiDAR140may be provided to be physically separated from one another. For example, the controller110may be installed in a housing separated from a housing of the camera120, a housing of the radar130, and a housing of the LiDAR140. The controller110may transmit or receive data with the camera120, the radar130, or the LiDAR140through a wide-bandwidth network.

Alternatively, at least some of the camera120, the radar130, the LiDAR140, and the controller110may also be integrally provided. For example, the camera120and the controller110may be provided in the same housing, the radar130and the controller110may be provided in the same housing, or the LiDAR140and the controller110may be provided in the same housing.

The camera120may capture surroundings of the vehicle1and acquire image data of the surroundings of the vehicle1. For example, as illustrated inFIG.2, the camera120may be installed on a front windshield of the vehicle1and may have a forward field of view120aof the vehicle1.

The camera120may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes for converting light into electrical signals, and the plurality of photodiodes may be disposed in the form of a two-dimensional matrix.

The image data may include information on another vehicle, a pedestrian, a cyclist, or a lane line (marker for distinguishing a lane) positioned near the vehicle1.

The driving assistance system100may include a processor for processing the image data of the camera120, and the processor may be, for example, a component included in the camera120or may be a component included in the controller110.

The processor may acquire image data from an image sensor of the camera120and detect and identify nearby objects of the vehicle1based on processing the image data. For example, the processor may generate tracks corresponding to the nearby objects of the vehicle1using image processing and classify the generated tracks. The processor may identify whether the track is another vehicle, a pedestrian, or a cyclist, etc., and assign an identification code to the track.

The processor may transmit data (or positions and classifications of the tracks) on tracks (hereinafter referred to as “camera track”) near the vehicle1to the controller110. The controller110may perform a driver assistance function or driving assistance function based on the camera track.

The radar130may transmit transmission radio waves toward the surroundings of the vehicle1and detect the nearby objects of the vehicle1based on reflected radio waves reflected from the nearby objects. For example, as illustrated inFIG.2, the radar130may be installed on a grille or a bumper of the vehicle1and may have a forward field of sensing130aof the vehicle1.

The radar130may include a transmission antenna (or a transmission antenna array) for radiating transmission radio waves toward the surroundings of the vehicle1and a reception antenna (or a reception antenna array) for receiving reflection signals, that is, reflected radio waves that return after being reflected from objects.

The radar130may acquire radar data from the transmission radio waves transmitted by the transmission antenna and the reflected radio waves received by the reception antenna. The radar data may include position information (e.g., distance information) or velocity information of front objects of the vehicle1.

The driving assistance system100may include a processor for processing the radar data, and the processor may be, for example, a component included in the radar130and may also be a component included in the controller110.

The processor may acquire the radar data from the reception antenna of the radar130and generate tracks corresponding to the objects by clustering reflection points of the reflection signal. The processor may, for example, acquire a distance of the track based on a time difference between a transmission time of the transmission radio wave and a reception time of the reflected radio wave and acquire a relative velocity of the track based on a frequency difference between the transmission radio wave and the reflected radio wave.

The processor may transmit data (or the distances and relative velocities of the tracks) on the tracks (hereinafter referred to as “radar track”) near the vehicle1acquired from the radar data to the controller110. The controller110may perform a driver assistance function or driving assistance function based on the radar track.

The LiDAR140may emit light (e.g., infrared rays) toward the surroundings of the vehicle1and detect the nearby objects of the vehicle1based on reflection light reflected from the nearby objects. For example, as illustrated inFIG.2, the LIDAR140may be installed on a roof of the vehicle1and may have a field of view140ain all directions near the vehicle1.

The LiDAR140may include a light source (e.g., a light emitting diode, a light emitting diode array, a laser diode, or a laser diode array) for emitting light (e.g., infrared rays) and an optical sensor (e.g., a photodiode or a photodiode array) for receiving light (e.g., infrared rays). In addition, as necessary, the LiDAR140may further include a driving device for rotating the light source or the optical sensor.

While the light source or the optical sensor rotates, the LiDAR140may emit light through the light source and receive the light reflected from objects through the optical sensor, thereby acquiring LiDAR data.

The LiDAR data may include relative positions (distances or directions of nearby objects) or relative velocities of the nearby objects of the vehicle1.

The driving assistance system100may include a processor for processing the LiDAR data, and the processor may be, for example, a component included in the LiDAR140and may also be a component included in the controller110.

The processor may generate tracks corresponding to objects by clustering reflection points by the reflected light. The processor may, for example, acquire a distance to the object based on a time difference between a light transmission time and a light reception time. In addition, the processor may acquire a direction (or an angle) of the object with respect to a traveling direction of the vehicle1based on a direction in which the light source emits light when the optical sensor receives the reflected light.

The processor may transmit data (or the distances and relative velocities of the tracks) on the tracks (hereinafter referred to as “LiDAR track”) near the vehicle1acquired from the LiDAR data to the controller110.

The controller110may be implemented as at least one of an electronic control unit (ECU) or a domain control unit (DCU) electrically connected to the camera120, the radar130, or the LiDAR140.

The controller110may process the camera track (or the image data) of the camera120, the radar track (or the radar data) of the radar130, or the LiDAR track (or the LiDAR data) of the LiDAR140and provide control signals to the driving device20, the braking device30, or the steering device40.

The controller110may include at least one memory111in which a program for performing an operation to be described below is stored and at least one processor112for executing the stored program.

The memory111may store a program or data for processing the image data, the radar data, or the LiDAR data. In addition, the memory111may store programs or data for generating driving, braking, and steering signals.

The memory111may temporarily store the image data received from the camera120, the radar data received from the radar130, or the LiDAR data received from the LiDAR140and temporarily store processing the image data, the radar data, or the LiDAR data of the processor112.

In addition, the memory111may include a high definition (HD) map. Unlike general maps, the HD map may include detailed information on surfaces of roads or intersections, such as lane lines, traffic lights, intersections, and traffic signs. In particular, landmarks (e.g., a lane line, a traffic light, an intersection, and a traffic sign) that vehicles encounters while traveling are implemented in the form of a three dimension on the HD map.

The memory111may include not only volatile memories such as a static random access memory (SRAM) and a dynamic RAM (DRAM) but also non-volatile memories such as a flash memory, a read only memory (ROM), and an erasable programmable ROM (EPROM).

The processor112may process the camera track of the camera120, the radar track of the radar130, or the LiDAR track of the LiDAR140. For example, the processor112may fuse the camera track, the radar track, or the LiDAR track and output fusion track.

Based on processing the fusion data, the processor112may generate a driving signal, a braking signal, or a steering signal for respectively controlling the driving device20, the braking device30, or the steering device40. For example, the processor112may evaluate risk of collision between the fusion tracks and the vehicle1. The processor112may control the driving device20, the braking device30, or the steering device40to steer or brake the vehicle1based on the risk of collision between the fusion tracks and the vehicle1.

The processor112may include the image processor for processing the image data of the camera120, the signal processor for processing the radar data of the radar130or the LiDAR data of the LiDAR140, or a micro control unit (MCU) for generating the driving, braking, and steering signals.

As described above, the controller110may provide the driving signal, the braking signal, or the steering signal based on the image data of the camera120, the radar data of the radar130, or the LiDAR data of the LiDAR140.

A detailed operation of the driving assistance system100will be described below in more detail.

In addition, although not illustrated in the drawings, a vehicle according to one embodiment may further include a communication module capable of communicating with other external devices. The communication module may wirelessly communicate with a base station or an access point (AP) and transmit or receive data with external devices via the base station or the AP.

For example, the communication module may wirelessly communicates with the AP using WiFi (WiFi™, IEEE 802.11 technical standard) or communicate with the base station using code division multiple access (CDMA), wideband CDMA (WCDMA), Global System for Mobiles (GSM), Long Term Evolution (LTE), fifth generation (5G), wireless broadband Internet (WiBro), etc.

In addition, the communication module may directly communicate with the external devices. For example, the communication module may transmit or receive data with external devices within a short range using WiFi Direct, Bluetooth (Bluetooth™, IEEE 802.15.1 technical standard), ZigBee (ZigBee™, IEEE 802.15.4 technical standard), etc.

Meanwhile, all of the components illustrated inFIG.1are not necessarily included in the vehicle1. For example, at least one of the camera120, the radar130, or the LiDAR140may be omitted.

In addition, although the camera120, the radar130, and the LiDAR140are illustrated in the drawings as one component of the driving assistance system100, it is not always necessary that these components be physically included in the driving assistance system100.

Therefore, at least one of the camera120, the radar130, or the LiDAR140may be provided in the vehicle1as a component independent of the driving assistance system100, and it is possible to acquire the image data or the camera track, the radar data or the radar track, or the LiDAR data or the LiDAR track from the at least one of the camera120, the radar130, or the LiDAR140provided in the vehicle1.

FIG.3is a flowchart illustrating a driving assistance method according to one embodiment, andFIG.4is a view illustrating an example in which a warning is output according to the driving assistance method according to one embodiment.

A driving assistance method according to one embodiment may be performed by the driving assistance system100or the vehicle1including the same. Therefore, a description of the driving assistance system100or the vehicle1may also be applied to the embodiment of the driving assistance method in the same manner even when not otherwise mentioned. In addition, a description of the driving assistance method may also be applied to the driving assistance system100or the vehicle1in the same manner.

Referring toFIG.3, the controller110acquires information on nearby objects (1100).

The information on the nearby objects may be acquired from at least one of the camera120, the radar130, or the LiDAR140. For example, the information on the nearby objects may include at least one of a position of the nearby object, a distance to the vehicle1, a relative velocity with the vehicle1, or a type of the nearby object determined based on the image data, the radar data, or the LiDAR data.

The controller110calculates a time to collision (TTC) based on the acquired information on the nearby objects (1100).

The TTC may be calculated based on a relative distance and a relative velocity between the vehicle1and the object.

The controller110may compare the TTC with a reference value (1300) and output a warning or perform automatic braking based on a comparison result (1400). However, when there is no object near the vehicle1or there is no risk of collision, it goes without saying that the warning is not output or the automatic braking is not performed.

As the comparison of the TTC and the reference value, when there is risk of collision between the vehicle1and the nearby object, a warning may be output to a user as illustrated inFIG.4. The output warning may include a message indicating that a vehicle needs to slow down because there is the risk of collision with the nearby object.

The controller110may visually output the warning through the display device50or audibly output the warning through the audio device60. In the drawings, although both the visual warning output and the audible warning output are illustrated for convenience of description, the warning may also be output using only one of these methods.

In addition, the warning may also be output by a haptic method through a steering wheel or a seat belt.

Meanwhile, in some cases, the automatic braking may be immediately performed without warning output. A description thereof will be given below in detail.

FIG.5is a view illustrating a case of braking of a vehicle according to the driving assistance method according to one embodiment, andFIG.6is a view illustrating a situation that may occur when a brake lamp of a vehicle is out of order.

The warning output and the automatic braking are an operation for decelerating the vehicle1to avoid the collision with the nearby object except that only the subject of braking is different. When the driver or the controller110operates the braking device30to brake the vehicle1, a brake lamp71provided at the rear of the vehicle1is turned on as illustrated inFIG.5.

When the brake lamp71is turned on, a driver of a following vehicle2may check braking of a preceding vehicle1and take countermeasures for avoiding the collision with the preceding vehicle1, such as performing braking for the following vehicle2or changing a lane.

However, when the brake lamp71is not normally turned on due to a failure, it is difficult for the driver of the following vehicle to check the braking of the vehicle even when the preceding vehicle is braking. Therefore, the driver of the following vehicle may recognize braking of the preceding vehicle only after approaching the preceding vehicle, and the driver may suddenly brake in order to avoid the collision with the preceding vehicle or the vehicle may collide with the preceding vehicle despite sudden braking.

Therefore, the driving assistance system, the vehicle including the same, and the driving assistance method according to one embodiment can provide the additional time for which the following vehicle may cope with the braking of the vehicle by differently applying the reference values used for determining the warning output or the automatic braking according to the state of the brake lamp.

FIG.7is a flowchart specifically illustrating the driving assistance method according to one embodiment.

A description of the operations of acquiring information on the nearby object (1100) and calculating the TTC (1200) is the same as the above-described contents.

Here, the operation of comparing the TTC with the reference value (1300) will be described in detail.

As described above, the controller110may differently apply the reference values compared with the TTC according to the state of the brake lamp71. As illustrated inFIG.7, when the brake lamp is normal (YES in1310), the TTC is compared with a first reference value (1320), and when the brake lamp is abnormal, that is, when the brake lamp is out of order (NO in1310), the TTC is compared with a second reference value (1330).

Therefore, when the brake lamp is normal, the warning may be output or the automatic braking may be performed based on comparing the TTC with the first reference value, and when the brake lamp is out of order, the warning may be output or the automatic braking may be performed based on comparing the TTC with the second reference time (1400).

FIG.8is a view illustrating reference values used in the driving assistance method according to one embodiment.

For example, the memory111may store the reference values compared with the TTC in the form of a lookup table. As described above, in order to apply different reference values when the brake lamp71is normal and when the brake lamp71is out of order, as illustrated inFIG.8, each of a first table used when the brake lamp is normal and a second table used when the brake lamp is out of order may be separately stored.

The reference values for the TTC for each of the measured velocities of a host vehicle and each of set sensitivities may be stored in the first table and the second table. However, the tables illustrated inFIG.8are only an example applicable to the embodiment, and reference values for each of other parameters such as relative velocities with nearby objects in addition to the velocity of the host vehicle and the sensitivity.

The tables illustrated in the example ofFIG.8are tables used to determine whether to output a warning. Here, reference values such as c1and c2may be included in the first reference value compared with the TTC when the brake lamp71is normal, and reference values such as c′1and c′2may be included in the second reference value compared with the TTC when the brake lamp71is out of order.

Here, the second reference value used when the brake lamp is out of order may be set greater than the first reference value used when the brake lamp is normal. That is, by outputting the warning or performing the automatic braking when the TTC is relatively longer (than that of a case in which the brake lamp is normal) in a situation in which the brake lamp is out of order, it is possible to provide an additional time so that the following vehicle may cope with the braking of the vehicle1in advance.

Meanwhile, the values stored in the first table and the second table may be determined by simulation, experiment, statistics, theory, etc., in a development stage of the vehicle1. However, the embodiment of the present disclosure is not limited thereto, and each of the first reference value and the second reference value may also be acquired through different rules or trained model without being pre-stored in the form of the table.

FIG.9is a flowchart illustrating an operation performed according to a comparison result between a time to collision (TTC) and a reference value in the driving assistance method according to one embodiment, andFIG.10is a view illustrating performing the driving assistance method according to one embodiment.

Descriptions of the operation of acquiring the information on the nearby object (1100), the operation of calculating the TTC (1200), and the operation of comparing the TTC with the reference value (1300) are the same as the above-described contents.

Here, the operation of outputting the warning or performing the automatic braking based on the result of comparing the TTC with the reference value (1400) will be described in detail.

As described above, when the brake lamp is normal (YES in1310), the controller110may compare the TTC with the first reference value (1320), and when the TTC is smaller than the first reference value (YES in1410), the controller110may output the warning to the user (1430).

As described above, the warning may be visually output through the display device50, may also be audibly output through the audio device60, and may also be output by a haptic method through the steering wheel or the seat belt.

When a driver's braking is not performed even though the warning is output (NO in1440), the controller110may perform the automatic braking using the braking device30(1450).

When the brake lamp is out of order (NO in1310), the controller110may compare the TTC with the second reference value greater than the first reference value (1330), and when the TTC is smaller than the second reference value (YES in1420), the controller110may output the warning to the user (1430).

When the driver's braking is not performed even though the warning is output (NO in1440), the controller110may perform the automatic braking using the braking device30(1450).

Meanwhile, in order to perform the automatic braking, the controller110may transmit a control signal for braking to the braking device30, and the transmitted control signal may include information on a required deceleration.

In the embodiment, the required deceleration may be differently applied according to the state of the brake lamp71. For example, the controller110may determine that the required deceleration for automatic braking is a first deceleration when the state of the brake lamp71is normal and determine that the required deceleration for automatic braking is a second deceleration having a smaller magnitude than the first deceleration when the state of the brake lamp71is out of order.

It has been described above that the reference values compared with the TTC are also applied differently according to the state of the brake lamp71so that braking is started earlier when the brake lamp71is out of order.

In addition, when the deceleration is controlled to be smaller when the brake lamp71is out of order, as illustrated inFIG.10, braking control may be performed for a longer braking distance than when the brake lamp71is normal.

Therefore, the driver of the following vehicle2can secure the additional reaction time with respect to the braking of the preceding vehicle, thereby improving the stability and reliability of the AEB control.

FIG.11is a flowchart illustrating an example in which automatic braking is possible immediately according to the comparison result between the TTC and the reference value in the driving assistance method according to one embodiment, andFIG.12is a view illustrating a lookup table usable in the example ofFIG.11.

Descriptions of the operation of acquiring the information on the nearby object (1100), the operation of calculating the TTC (1200), and the operation of comparing the TTC with the reference values (1300) are the same as the above-described contents.

In the example, the first reference value used when the brake lamp is normal includes a1-1reference value and a1-2reference value, and the second reference value used when the brake lamp is out of order includes a2-1reference value and a2-2reference value.

Referring toFIG.12, values such as d1and d2stored in the first table may be included in the1-1reference value, and values such as c1and c2stored in the first table may be included in the1-2reference value.

Values such as d′1and d′2stored in the second table may be included in the2-1reference value, and values c′1and c′2stored in the second table may be included in the2-2reference value.

When the brake lamp is normal and the TTC is greater than or equal to the1-1reference value and smaller than the1-2reference value (YES in1411), the controller110may output the warning to the user (1431), and when the TTC is smaller than the1-1reference value (YES in1412), the controller110may immediately perform the automatic braking (1451). It goes without saying that the warning may be output together with performing the automatic braking.

When the brake lamp is out of order and the TTC is greater than or equal to the2-1reference value and smaller than the2-2reference value (YES in1421), the controller110may output the warning to the user (1432), and when the TTC is smaller than the2-1reference value (YES in1422), the controller110may immediately perform the automatic braking (1452). Even here, it goes without saying that the warning may be output together with performing the automatic braking.

The2-1reference value used when the brake lamp is out of order is greater than the1-1reference value used when the brake lamp is normal, and the2-2reference value used when the brake lamp is out of order is greater than the1-2reference value used when the brake lamp is normal.

As is apparent from the above description, according to the driving assistance system, vehicle including the same, and driving assistance method describe above, by setting reference values compared with a TTC to be greater in order to determine whether a warning is output or automatic braking is performed when a brake lamp is out of order, it is possible to allow a driver of a following vehicle to cope with braking of the vehicle in advance, thereby improving the stability and reliability of an AEB function.

In addition, by setting a magnitude of a required deceleration used for automatic braking to be smaller and controlling a braking distance to be longer, it is possible to reduce the possibility of the occurrence of sudden braking of the following vehicle.

According to one aspect of the present disclosure, by differently applying reference values used for determining the warning output or the automatic braking according to the state of the brake lamp of the, it is possible to provide the additional preparation time to the driver of the following vehicle when the brake lamp is out of order, thereby improving the stability and reliability of the AEB function.

Exemplary embodiments of the present disclosure have been described above. In the exemplary embodiments described above, some components may be implemented as a “module”. Here, the term ‘module’ means, but is not limited to, a software and/or hardware component, such as a Field Programmable Gate Array (FPGA) or Application Specific Integrated Circuit (ASIC), which performs certain tasks. A module may advantageously be configured to reside on the addressable storage medium and configured to execute on one or more processors.

Thus, a module may include, by way of example, components, such as software components, object-oriented software components, class components and task components, processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. The operations provided for in the components and modules may be combined into fewer components and modules or further separated into additional components and modules. In addition, the components and modules may be implemented such that they execute one or more CPUs in a device.

With that being said, and in addition to the above described exemplary embodiments, embodiments can thus be implemented through computer readable code/instructions in/on a medium, e.g., a computer readable medium, to control at least one processing element to implement any above described exemplary embodiment. The medium can correspond to any medium/media permitting the storing and/or transmission of the computer readable code.

The computer-readable code can be recorded on a medium or transmitted through the Internet. The medium may include Read Only Memory (ROM), Random Access Memory (RAM), Compact Disk-Read Only Memories (CD-ROMs), magnetic tapes, floppy disks, and optical recording medium. Also, the medium may be a non-transitory computer-readable medium. The media may also be a distributed network, so that the computer readable code is stored or transferred and executed in a distributed fashion. Still further, as only an example, the processing element could include at least one processor or at least one computer processor, and processing elements may be distributed and/or included in a single device.