Patent Publication Number: US-2021188318-A1

Title: Driver assistance apparatus and method thereof

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     This application is based on and claims priority under 35 U.S.C. § 119 to Korean Patent Application No. 10-2019-0172333, filed on Dec. 20, 2019 in the Korean Intellectual Property Office, the disclosure of which is incorporated by reference in its entirety. 
     BACKGROUND 
     1. Technical Field 
     Embodiments of the present disclosure relate to a driver assistance apparatus, and more particularly, a driver assistance apparatus configured to generate a driving route of a vehicle. 
     2. Description of the Related Art 
     In general, a vehicle is a machine which travels on roads or tracks using fossil fuels, electricity, etc. Vehicles may move in various directions according to rotation of at least one wheel mounted to a vehicle body. Such vehicles may include, for example, a three-wheeled or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a motorized bicycle, construction equipment, a bicycle, a train traveling on rails, and the like. 
     The number of users who use vehicles as simple transportation means in modern society is rapidly increasing. With rapid development of vehicle technology, users or people who use vehicles can easily enjoy long distance travel, resulting in a high standard of living in daily life. However, within areas with high population density, such as Korea, road traffic situations may be seriously deteriorated such that traffic congestion becomes more serious day by day. 
     In recent times, in order to mitigate driver difficulty as well as to increase driver&#39;s convenience during vehicle driving, many developers and companies are conducting intensive research into a vehicle provided with an advanced driver assistance system (ADAS), such that the ADAS-embedded vehicle can actively provide the driver with various kinds of information, for example, vehicle states, driver&#39;s states, peripheral environment information, etc. 
     A representative example of the ADAS embedded in the vehicle may include a Forward Collision Avoidance (FCA) system, an Autonomous Emergency Brake (AEB) system, a Driver Attention Warning (DAW) system, etc. Such a system is a system for determining the risk of collision with an object in the driving situation of the vehicle, and providing a collision avoidance and warning through emergency braking in the collision situation. 
     The driver assistance device may further create a driving route for the vehicle to travel without collision with an object. The existing driver assistance device could create a driving route based on a lane or a preceding vehicle. 
     However, the existing driver assistance device fails to generate a driving route for a vehicle unless a lane or a preceding vehicle is detected, and delegates control of the vehicle to the driver. 
     SUMMARY 
     In view of the above, it is an aspect of the present disclosure to provide a driver assistance system and a driver assistance method for continuously generating a driving route of the vehicle even if the lane or the preceding vehicle is not detected. 
     In accordance with an aspect of the present disclosure, a driver assistance system (DAS) may include a camera disposed on a vehicle, having a field of view in front of the vehicle, and configured to acquire an image data; a controller including a processor configured to process the image data. The controller may be configured to identify at least one object obstructing a driving of the vehicle based on the image data, identify a stopped vehicle among the at least one object based on the image data, and set a driving route of the vehicle based on the position and speed of the at least one object and the position of the stopped vehicle, and controls at least one of a braking device and a steering device of the vehicle so that the vehicle travels along the driving route. 
     The controller may be configured to set a free-space based on a position of the at least one object and the position of the stopped vehicle, and set the driving route for the vehicle to travel within the free-space. 
     The controller may be configured to set a free-space candidate based on the position of the at least one object, and set the free-space based on a difference between the free-space candidate and a range in which the stopped vehicle is movable. 
     The controller may be configured to set a first free space candidate based on the position of the stopped object among the at least one object, identify a range in which the moving object is movable based on the position of the moving object among the at least one object, and set the free-space candidate based on a difference between the first free-space candidate and a range in which the moving object is movable. 
     The controller may be configured to determine, based on the image data, that another vehicle including a lit tail light is stopped. 
     The controller may be configured to determine, based on the image data, that another vehicle including a flashing direction indicator light is stopped. 
     The controller may be configured to receive driving information of another vehicle through a wireless communication device installed in the vehicle, and determine, based on the driving information of another vehicle, that the other vehicle is stopped. 
     In accordance with an aspect of the present disclosure, a driver assistance method, the method may comprise processing an image data acquired by a camera having a field of view in front of a vehicle installed in a vehicle; identifying at least one object obstructing the driving of the vehicle based on the image data; identifying a stopped vehicle among the at least one object based on the image data; setting a driving route of the vehicle based on the position of the at least one object and the position of the stopped vehicle; and controlling at least one of a braking device and a steering device of the vehicle so that the vehicle travels along the driving route. 
     The setting of the driving route of the vehicle may include setting a free-space based on a position of the at least one object and the position of the stopped vehicle, and setting the driving route for the vehicle to travel within the free-space. 
     The setting of the free-space may include setting a free-space candidate based on the position of the at least one object, and setting the free-space based on a difference between the free-space candidate and a range in which the stopped vehicle is movable. 
     The setting of the free-space candidate may include setting a first free space candidate based on the position of the stopped object among the at least one object, identifying a range in which the moving object is movable based on the position of the moving object among the at least one object, and setting the free-space candidate based on a difference between the first free-space candidate and a range in which the moving object is movable. 
     The identifying of the stopped vehicle may include determining, based on the image data, that another vehicle including a lit tail light is stopped. 
     The identifying of the stopped vehicle may include determining, based on the image data, that another vehicle including a flashing direction indicator light is stopped. 
     The identifying of the stopped vehicle may include determining, based on driving information of another vehicle received through wireless communication device installed in the vehicle, that another vehicle is stopped. 
     The method may further include acquiring detection data by a sensor having at least one detection field of a front and a side of a vehicle by a group consisting of a radar sensor and a lidar sensor installed in the vehicle; and identifying the position of at least one object based on the image data and the detection data. 
     In accordance with an aspect of the present disclosure, a driver assistance system (DAS) may comprise a camera installed on a vehicle, having a field of view in front of the vehicle, and configured to acquire an image data; a sensor configured to have at least one detection field of the front and side of the vehicle, and obtain a detection data in the group consisting of a radar sensor and a lidar sensor which are installed in the vehicle; and a controller including a processor configured to process the image data and the detection data. 
     The controller may be configured to identify at least one object obstructing a driving of the 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 and, set a driving route of the vehicle based on the position and speed of the at least one object and the position of the stopped vehicle, and control at least one of a braking device and a steering device of the vehicle so that the vehicle travels along the driving route. 
     The controller may be configured to set a free-space based on a position and speed of the at least one object and the position of the stopped vehicle, and set the driving route for the vehicle to travel within the free-space. 
     The controller may be configured to determine, based on the image data, that another vehicle including a lit tail light is stopped. 
     The controller may be configured to determine, based on the image data that another vehicle including a flashing direction indicator light is stopped. 
     The controller may be configured to receive driving information of another vehicle through a wireless communication device installed in the vehicle, and determine, based on the driving information of the another vehicle, that the other vehicle is stopped. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These and/or other aspects of the invention will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which: 
         FIG. 1  illustrates a configuration of a vehicle according to an embodiment. 
         FIG. 2  illustrates a configuration of a driver assistance system according to an embodiment. 
         FIG. 3  illustrates a camera and a radar included in a driver assistance system according to an embodiment. 
         FIG. 4  illustrates a method of generating a route by a driver assistance apparatus according to an exemplary embodiment. 
         FIGS. 5 and 6  illustrate an example of generating a driving route of a vehicle according to the route generating method illustrated in  FIG. 4 . 
         FIG. 7  is a diagram illustrating a method of generating a route by a driver assistance apparatus according to an exemplary embodiment. 
         FIGS. 8, 9, and 10  illustrate an example of generating a driving route of a vehicle according to the route generation method illustrated in  FIG. 7 . 
     
    
    
     DETAILED DESCRIPTION 
     Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. 
       FIG. 1  illustrates a configuration of a vehicle according to an embodiment. 
     Referring to  FIG. 1 , the vehicle  1  may include an engine  10 , a transmission  20 , a brake device  30 , and a steering device  40 . The engine  10  may include at least one cylinder and at least one piston, and may generate power needed to drive the vehicle  1 . Alternatively or additionally, the engine  10  may include an electric or other motor, such as an electric motor including a rotor and a stator, configured to generate power to move the vehicle  1 . The transmission  20  may include a plurality of gears, and may transmit power generated by the engine  10  to wheels of the vehicle  1 . The brake device  30  may decelerate or stop the vehicle  1  through frictional force on wheels. The brake device  30  may include one or more brake pads and brake shoes operative to decelerate or stop the vehicle. The steering device  40  may change the traveling direction of the vehicle  1 . The steering device  40  may include a linkage operative to change a direction or orientation of wheel(s) of the vehicle  1 . 
     The vehicle  1  may include a plurality of electronic constituent elements. For example, the vehicle  1  may further include an Engine Management System (EMS)  11 , a Transmission Controller also referred to as a Transmission Control Unit (TCU)  21 , an Electronic Brake Controller also referred to as an Electronic Brake Control Module (EBCM)  31 , an Electronic Power Steering (EPS) device  41 , a Body Control Module (BCM), and a Driver Assistance System (DAS)  100 . 
     The EMS  11  may control the engine  10  in response to either the driver&#39;s acceleration intention from the acceleration pedal or a request signal from the driver assistance system (DAS)  100 . For example, the EMS  11  may control torque of the engine  10 . 
     The TCU  21  may control the transmission  20  in response to either a driver&#39;s gearshift command activated by a gearshift lever and/or a driving speed of the vehicle  1 . For example, the TCU  21  may adjust or regulate a gearshift ratio from the engine  10  to wheels of the vehicle  1 . 
     The electronic brake control module (EBCM)  31  may control a brake device  30  in response to either the driver&#39;s brake intention from a brake pedal or slippage of wheels. For example, the EBCM  31  may temporarily release wheel braking in response to wheel slippage detected in a braking mode of the vehicle  1 , resulting in implementation of an Anti-lock Braking System (ABS). The EBCM  31  may selectively release braking of wheels in response to oversteering and/or understeering detected in a steering mode of the vehicle  1 , resulting in implantation of Electronic Stability Control (ESC). In addition, the EBCM  31  may temporarily brake wheels in response to wheel slippage detected by vehicle driving, resulting in implementation of a Traction Control System (TCS). 
     In addition, the electronic braking control module  31  may control the braking device  30  in response to a request from the driver assistance device  100 . For example, the electronic braking control module  31  receives a deceleration request including a deceleration rate from the driver assistance device  100 , and sets the braking device  30  to decelerate the vehicle  1  depending on the requested deceleration rate. 
     The electronic power steering (EPS) device  41  may assist the steering device  40  in response to the driver&#39;s steering intention from the steering wheel, such that the EPS device  41  may assist the driver in easily handling the steering wheel. For example, the EPS device  41  may assist the steering wheel  40  in a manner that steering force decreases in a low-speed driving mode or a parking mode of the vehicle  1  but increases in a high-speed driving mode of the vehicle  1 . 
     In addition, the electronic steering device  41  may control the steering device  40  in response to a request from the driver assistance device  100 . For example, the electronic steering device  41  receives a steering request including a steering torque from the driver assistance device  100 , and controls the steering device  40  so that the vehicle  1  is steered depending on the requested steering torque. 
     A body control module  51  may control various electronic components that are capable of providing the driver with user convenience or guaranteeing driver safety. For example, the body control module  51  may control headlamps (headlights), wipers, an instrument or other cluster, a multifunctional switch, turn signal indicators, or the like. 
     The wireless communication device  61  may communicate with an external device (eg, an external communication infrastructure, an external traffic infrastructure, or an external vehicle) to provide convenience to a driver or ensure safety of the driver. 
     The wireless communication device  61  can send and receive data using various wireless communication standard such as external communication infrastructure (e.g., base station, etc.), external traffic infrastructure (e.g., traffic lights, etc.), or external vehicles (e.g., preceding vehicle, trailing vehicle, opposite vehicle, etc.). For example, the wireless communication device  61  may exchange data with an external device using a wireless communication standard such as Dedicated Short Range Communication (DSRC) or wireless access in vehicular environments (WAVE) for a vehicle. In another example, the wireless communication device  61  Data can be exchanged with external devices using mobile communication standards such as Time Division Multiple Access (TDMA), Code Division Multiple Access (CDMA), Wide Code Division Multiple Access (WCDMA),CDMA2000 (Code Division Multiple Access 2000), Wireless Broadband (Wibro),WiMAX (World Interoperability for Microwave Access: WiMAX),Long Term Evolution (LTE) or WiBro Evolution (Wireless Broadband Evolution). 
     The driver assistance system (DAS)  100  may assist the driver in easily handling (e.g., driving, braking, and steering) the vehicle  1 . For example, the DAS  100  may detect peripheral environments (e.g., a peripheral vehicle, pedestrian, cyclist, lane, traffic sign, or the like) of the vehicle  1  (i.e., host vehicle), and may perform driving, braking, and/or steering of the vehicle  1  in response to the detected peripheral environments. 
     The DAS  100  may provide the driver with various functions. For example, the DAS  100  may provide the driver with a Lane Departure Warning (LDW) function, a Lane Keeping Assist (LKA) function, a High Beam Assist (HBA) function, an Autonomous Emergency Braking (AEB) function, a Traffic Sign Recognition (TSR) function, a Smart Cruise Control (SCC) function, a Blind Spot Detection (BSD) function, or the like. 
     The DAS  100  may include a camera module  101  operative to acquire image data of a peripheral region of the vehicle  1  (e.g., a region outside of and surrounding the vehicle  1 ), and a radar module  102  operative to acquire data about a peripheral object present in the peripheral region of the vehicle  1 . The camera module  101  may include a camera  101   a  or multiple cameras and an Electronic Control Unit (ECU) controller  101   b.  The camera  101   a  may capture an image including a forward region of the vehicle  1  (e.g., a region in front of the vehicle  1 ), and may include an image processor operative to process the captured image to recognize peripheral vehicles, pedestrians, cyclists, lanes, traffic signs, or the like in the captured image. The radar module  102  may include a radar  102   a  or multiple radars and an Electronic Control Unit (ECU) controller  102   b,  and may acquire or determine a relative position, a relative speed, or the like of the peripheral object (e.g., a peripheral vehicle, a pedestrian, or a cyclist) of the vehicle  1  based on sensed radar data. 
     The scope or spirit of the DAS  100  according to the present disclosure is not limited thereto, and the DAS  100  may further include a Light Detection And Ranging (LiDAR) sensor to detect the presence or absence of a peripheral object by monitoring (or scanning) the peripheral region of the vehicle  1 . 
     The above-mentioned electronic components may communicate with each other through a vehicle communication network (NT). For example, the electronic components may perform data communication through Ethernet, Media Oriented Systems Transport (MOST), a FlexRay, a Controller Area Network (CAN), a Local Interconnect Network (LIN), or the like. For example, the DAS  100  may respectively transmit a drive control signal, a brake signal, and a steering signal to the EMS  11 , the EBCM  31 , and the EPS device  41  over the vehicle communication network (NT). 
       FIG. 2  is a block diagram illustrating the driver assistance system (DAS) according to an embodiment of the present disclosure.  FIG. 3  is a conceptual diagram illustrating fields of view/sensing of a camera and a radar device for use in the driver assistance system (DAS) according to an embodiment of the present disclosure. 
     Referring to  FIG. 2 , the vehicle  1  may include a drive system  12 , a brake system  32 , a steering system  42 , a wireless communication device  61 , and a driver assistance system (DAS)  100 . 
     The drive system  12  includes an engine management system  11  (see  FIG. 1 ), an engine  10  (see  FIG. 1 ), a transmission control unit  21  (see  FIG. 1 ) and a transmission  20  (see  FIG. 1 ) shown in  FIG. 1 . The braking system  32  may include an electronic braking control module  31  (see  FIG. 1 ) and a braking device  30  (see FIG.  1 ) shown in  FIG. 1 . The steering system  42  may include an electronic steering device  41  (see  FIG. 1 ) and a steering device  40  (see  FIG. 1 ) shown in  FIG. 1 .The wireless communication device  61  may be the same as the wireless communication device  61  shown in  FIG. 1 . 
     The DAS  100  may include one or more of a forward-view camera  110 , a forward-view radar  120 , and a plurality of corner radars  130 . 
     The forward-view camera  110  may include a Field of View (FOV)  110   a  oriented to the forward region of the vehicle  1 , as shown in  FIG. 3 . The forward-view camera  110  may be installed at a windshield of the vehicle  1 . 
     The forward-view camera  110  may capture an image of the forward region of the vehicle  1 , and may acquire data of the forward-view image of the vehicle  1 . The forward-view image data of the vehicle  1  may include information about the position of a peripheral vehicle, a pedestrian, a cyclist, or a lane located in the forward region of the vehicle  1 . 
     The forward-view camera  110  may include a plurality of lenses and a plurality of image sensors. Each image sensor may include a plurality of photodiodes to convert light into electrical signals, and the photodiodes may be arranged in a two-dimensional (2D) matrix. 
     The forward-view camera  110  may be electrically coupled to the processor or controller  140 . For example, the forward-view camera  110  may be connected to the controller  140  through a vehicle communication network (NT), Hardwires, or a Printed Circuit Board (PCB). 
     The forward-view camera  110  may transmit the forward-view image data of the vehicle  1  to the controller  140 . 
     The forward-view radar  120  may include a Field of Sensing (FOS)  120   a  oriented to the forward region of the vehicle  1  as shown in  FIG. 3 . The forward-view radar  120  may be mounted to, for example, a grille or a bumper of the vehicle  1 . 
     The forward-view radar  120  may include a transmission (Tx) antenna (or a transmission (Tx) antenna array) to emit transmission (Tx) waves to the forward region of the vehicle  1  and a reception (Rx) antenna (or a reception (Rx) antenna array) to receive waves reflected from any object located in the FOS. The forward-view radar  120  may acquire forward-view radar data not only from Tx waves received from the Tx antenna, but also from reflected waves received from the Rx antenna. The forward-view radar data may include not only information about a distance between the host vehicle  1  and a peripheral vehicle (or a pedestrian or cyclist or other preceding object) located in the forward region of the host vehicle  1 , but also information about a speed of the peripheral vehicle, the pedestrian, or the cyclist. The forward-view radar  120  may calculate a relative distance between the host vehicle  1  and any object based on a difference in phase (or difference in time) between Tx waves and reflected waves, and may calculate a relative speed of the object based on a difference in frequency between the Tx waves and the reflected waves. 
     For example, the forward-view radar  120  may be coupled to the controller  140  through a vehicle communication network (NT), Hardwires, or a PCB. The forward-view radar  120  may transmit forward-view radar data to the controller  140 . 
     The plurality of corner radars  130  may include a first corner radar  131  mounted to a forward right side of the vehicle  1 , a second corner radar  132  mounted to a forward left side of the vehicle  1 , a third corner radar  133  mounted to a rear right side of the vehicle  1 , and a fourth corner radar  134  mounted to a rear left side of the vehicle  1 . 
     The first corner radar  131  may include a field of sensing (FOS)  131   a  oriented to a forward right region of the vehicle  1 , as shown in  FIG. 3 . For example, the forward-view radar  120  may be mounted to a right side of a front bumper of the vehicle  1 . The second corner radar  132  may include an FOS  132   a  oriented to a forward left region of the vehicle  1 , and may be mounted to, for example, a left side of the front bumper of the vehicle  1 . The third corner radar  133  may include an FOS  133   a  oriented to a rear right region of the vehicle  1 , and may be mounted to, for example, a right side of a rear bumper of the vehicle  1 . The fourth corner radar  134  may include an FOS  134   a  oriented to a rear left region of the vehicle  1 , and may be mounted to, for example, a left side of the rear bumper of the vehicle  1 . 
     Each of the first, second, third, and fourth radars  131 ,  132 ,  133 , and  134  may include a transmission (Tx) antenna and a reception (Rx) antenna. The first, second, third, and fourth corner radars  131 ,  132 ,  133 , and  134  may respectively acquire first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data. The first corner radar data may include information about a distance between the host vehicle  1  and an object (e.g., a peripheral vehicle, a pedestrian, or a cyclist) present in a forward right region of the host vehicle  1 , and information about a speed of the object. The second corner radar data may include information about a distance between the host vehicle  1  and an object (e.g., a peripheral vehicle, a pedestrian, or a cyclist) present in a forward left region of the host vehicle  1 , and information about a speed of the object. The third corner radar data may include information about a distance between the host vehicle  1  and an object (e.g., a peripheral vehicle, a pedestrian, or a cyclist) present in a rear right region of the host vehicle  1 , and information about a speed of the object. The fourth corner radar data may include information about a distance between the host vehicle  1  and an object (e.g., a peripheral vehicle, a pedestrian, or a cyclist) present in a rear left region of the host vehicle  1 , and information about a speed of the object. 
     Each of the first, second, third, and fourth corner radars  131 ,  132 ,  133 , and  134  may be connected to the controller  140  through, for example, a vehicle communication network NT, Hardwires, or a PCB. The first, second, third, and fourth corner radars  131 ,  132 ,  133 , and  134  may respectively transmit first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data to the controller  140 . 
     The controller  140  may include a controller (ECU)  101   b  (see  FIG. 1 ) of the camera module  101  (see  FIG. 1 ), a controller (ECU)  102   b  (see  FIG. 2 ) of the radar module  102  (see  FIG. 1 ), and/or an additional integrated controller. 
     The controller  140  may include a processor  141  and a memory  142 . 
     The processor  141  may process forward-view image data of the forward-view camera  110 , forward-view radar data of the forward-view radar  120 , and corner radar data of the plurality of corner radars  130 , and may generate a brake signal controlling the brake system  32  and a steering signal controlling the steering system  42 . For example, the processor  141  may include an image processor to process forward-view image data of the forward-view camera  110 , a digital signal processor to process radar data detected by the radars  120  and  130 , and/or a Micro-Control Unit (MCU) to generate a brake signal and a steering signal. 
     The processor  141  may determine a lane in front of the vehicle  1  based on the front image data of the forward-view camera  110  and the front radar data of the forward-view radar  120 . 
     Specifically, the processor  141  may obtain the positions (distances and directions) and relative speeds of objects in front of the vehicle  1  based on forward detection data of the front radar  120 . The processor  141  can obtain the position (direction) and classification of objects in front of the vehicle  1  (for example, whether the object is another vehicle, a pedestrian, or a cyclist, etc based on the front image data of the front camera  110 . In addition, the processor  141  matches the objects detected by the front image data to the objects detected by the front detection data, and obtains a classification, a position, and a relative speed of objects in front of the vehicle  1  based on the matching result. 
     The processor  141  may generate a driving signal, a braking signal, and a steering signal based on the classification, position, and relative speed of front objects. For example, the processor  141  may transmit a driving signal to the drive system  12  so that the distance of the preceding vehicle (or the time to the preceding vehicle) becomes a distance set by the driver. In addition, the processor  141  calculates a time (Time to Collision, TTC) between the vehicle  1  and the front object based on the position (distance) and the relative speed of the front objects, and may warn the driver of a collision or transmit a braking signal to the braking system  32  based on a comparison between the time until collision TTC and a predetermined reference time. 
     The processor  141  may obtain the position (distance and direction) and relative speed of the lateral (front right, front left, rear right, rear left) objects of the vehicle  1  based on the corner detection data of the plurality of corner radars  130 . 
     The processor  141  may transmit a steering signal to the steering system  42  based on the location (distance and direction) and relative speed of lateral objects of the vehicle  1 . For example, if a collision with an object in front is determined based on the time to collision or distance to collision, the processor  141  may transmit a steering signal to the steering system  42  in order to avoid a collision with a front object. 
     The processor  141  may determine whether to avoid a collision with a front object by changing the driving direction of the vehicle  1  based on the location (distance and direction) and relative speed of the lateral objects of the vehicle  1 . For example, when there is no object located on the side of the vehicle  1 , the processor  141  may transmit a steering signal to the steering system  42  in order to avoid a collision with a front object. When the collision with the side object is not predicted after the steering of the vehicle  1  based on the position (distance and direction) and the relative speed of the side objects, the processor  141  may transmit a steering signal to the steering system  42  in order to avoid a collision with a front object. When the collision with the side object is predicted after the steering of the vehicle  1  based on the position (distance and direction) and the relative speed of the side objects, the processor  141  may not transmit the steering signal to the steering system  42 . 
     In addition, the processor  141  may generate a driving route based on the communication data of the wireless communication device  61  and/or the front image data of the front camera  110  and/or the forward detection data of the front radar  120 , of the vehicle  1 , and may transmit a driving signal and/or a braking signal and/or a steering signal to the braking system  32  and the steering system  42 , respectively, so that the vehicle  1  travels along the generated driving route. 
     For example, the processor  141  may obtain the position of the vehicle  1 , the relative position of objects (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle  1 , a relative speed, and the like based on the communication data of the wireless communication device  61  and/or the front image data of the front camera  110  and/or the forward detection data of the front radar  120 . The processor  141  may identify a free-space in which the vehicle  1  can travel, based on a relative position and/or a relative speed of an object around the vehicle  1 . Also, the processor  141  may generate a driving route through which the vehicle  1  can travel without colliding with surrounding objects in the free-space. Further, the processor  141  generates a driving signal and/or a braking signal and/or a steering signal to drive the vehicle  1  along the generated driving route, and may transmit a driving signal, a braking signal, and a steering signal to the drive system  12 , the braking system  32 , and the steering system  42 , respectively. 
     The memory  142  may store programs and/or data needed for allowing the processor  141  to process image data, may store programs and/or data needed for the processor  141  to process radar data, and may store programs and/or data needed for the processor  141  to generate a brake signal and/or a steering signal. 
     The memory  142  may temporarily store image data received from the forward-view camera  110  and/or radar data received from the radars  120  and  130 , and may also temporarily store the processed results of the image data and/or the radar data handled by the processor  141 . 
     The memory  142  may include not only a volatile memory, such as a Static Random Access memory (SRAM) or a Dynamic Random Access Memory (DRAM), but also a non-volatile memory, such as a flash memory, a Read Only Memory (ROM), or an Erasable Programmable Read Only Memory (EPROM), 
     The scope or spirit of the DAS  100  according to the present disclosure is not limited to  FIG. 2 , and the DAS  100  may additionally or alternatively include a Light Detection And Ranging (LiDAR) sensor to detect the presence or absence of a peripheral object by monitoring (or scanning) the peripheral region of the vehicle  1 . 
     As such, the controller  140  may transmit a braking signal to the braking system  32  based on whether a collision with a front object is predicted. In addition, the controller  140  may transmit a steering signal to the steering system  42  to avoid a collision with a front object. 
     The controller  140  may control an object around the vehicle  1  and set a free-space in which the vehicle  1  can travel based on a relative position and/or a relative speed of the detected object. In addition, the controller  140  may generate a driving route through which the vehicle  1  can travel without colliding with an object in the free-space. 
       FIG. 4  illustrates a method of generating a route by a driver assistance apparatus according to an exemplary embodiment.  FIGS. 5 and 6  illustrate an example of generating a driving route of a vehicle according to the route generating method illustrated in  FIG. 4 . 
     The driver assistance system  100  identifies and classifies objects around the vehicle  1  ( 1010 ). 
     While the vehicle  1  is traveling or stationary, the front camera  110  of the driver assistance system  100  may acquire image data in front of and/or around the vehicle  1 .The controller  140  of the driver assistance system  100  may acquire image data from the forward-view camera  110 .The controller  140  may identify and classify objects located in front of and/or around the vehicle  1  based on the image data. For example, the controller  140  may identify objects including signs, other vehicles, pedestrians, bicycles, road boundaries, animals, traffic lights, etc. located in front and/or around the vehicle  1 . In addition, the controller  140  may classify the identified object into signs, other vehicles, pedestrians, bicycles, road boundaries, animals, and traffic lights. 
     While the vehicle  1  is traveling or stationary, the forward-view radar/corner radars  120  and  130  of the driver assistance system  100  may acquire sensing data in front of and/or around the vehicle  1 . The controller  140  may acquire sensing data from the forward-view radar/corner radars  120  and  130 .The controller  140  may identify objects located in front of and/or around the vehicle  1  based on the sensing data. 
     The controller  140  identifies objects located in front of and/or around the vehicle  1  by relying only on image data of the front camera  110 , or identifies objects located in front of and/or around the vehicle  1  by relying only on detection data from forward-view radar/corner radar ( 120 ,  130 ). 
     The controller  140  may identify objects located in front of and/or around the vehicle  1  based on image data of the front camera  110  and detection data of the forward-view radar/corner radars  120  and  130 . For example, controller  140  may identify common objects among the identified objects based on the objects identified based on the image data of the front camera  110  and the detection data of the forward-view radar/corner radars  120  and  130 . 
     Furthermore, the controller  140  may identify objects located in front of and/or around the vehicle  1  based on the communication data of the wireless communication device  61  and the image data of the front camera  110  and the detection data of the forward-view radar/corner radars  120  and  130 . For example, the controller  140  receives information on surrounding vehicles through the wireless communication device  61 , and may identify a vehicle located in front of and/or around the vehicle  1  based on information on surrounding vehicles. 
     The driver assistance system  100  identifies the relative position and relative speed of objects around the vehicle  1  ( 1020 ). 
     The controller  140  identifies the relative positions of objects located in front of and/or around the vehicle  1  based on the image data, and identifies the relative speeds of objects located in front of and/or around the vehicle  1  based on a plurality of consecutive image data. For example, the controller  140  may identify the relative positions of the objects based on the position (coordinate) of the object and the size of the object (the number of pixels occupied by the object) in the image according to the image data. In addition, the controller  140  may identify the relative speeds of objects based on a change in a position of an object and a change in a size of the object in an image by a plurality of consecutive image data. 
     The controller  140  may identify the relative positions and relative speeds of objects located in front of and/or around the vehicle  1  based on the sensing data. For example, the controller  140  may identify relative positions of objects located in front of and/or around the vehicle  1  based on a time until a radio wave reflected from the object is received and an angle at which the radio wave is received. Further, the controller  140  may identify the relative speeds of objects located in front of and/or around the vehicle  1  based on a change in frequency (Doppler effect) of radio waves reflected from the object. 
     In addition, the controller  140  may identify a relative position and a relative speed of an object located in front of and/or around the vehicle  1  based on the image data of the forward-view camera  110  and the detection data of the forward-view radar/corner radars  120 ,  130 . For example, the controller  140  may determine the relative position in the horizontal direction and the relative speed in the horizontal direction based on the image data of the forward-view camera  110 . The controller  140  may determine a longitudinal relative position and a longitudinal relative speed of the object based on the detection data of the forward-view radar/corner radars  120  and  130 . Here, the horizontal direction indicates a direction perpendicular to the driving direction of the vehicle  1 , and the vertical direction may indicate a direction parallel to the driving direction of the vehicle  1 . 
     The driver assistance system  100  determines the free space based on the relative position and relative speed of the object ( 1030 ). 
     The controller  140  may classify a stationary object and a moving object based on the relative speed of the object and the driving speed of the vehicle  1 . 
     The controller  140  may set a space, that is, a free-space, in which an object does not currently exist or an object does not exist within a reference time for moving the vehicle  1  based on the relative position of the stationary object and the relative position/relative velocity of the moving object. 
     For example, as shown in  FIG. 5 , the controller  140  may set a free-space in which an object does not exist based on the relative positions of (stopped) objects. The controller  140  identifies a left wall (W 1 ), a left first vehicle (L 1 ), a left second vehicle (L 2 ), a left third vehicle (L 3 ), a right wall (W 2 ), a right first vehicle (R 1 ), and a right second vehicle, and determines its relative position based on image data and/or sensing data. The controller  140  may identify the free-space FS 1  based on the relative positions of the identified objects W 1 , W 2 , L 1 , L 2 , L 3 , R 1 , and R 2 . 
     As another example, as illustrated in  FIG. 6 , the controller  140  may set a free-space in which an object is expected to not exist within a reference time based on a relative position of objects and a relative speed of moving objects. The controller  140  identifies the relative position of the stationary objects (W 1 , W 2 , L 1 , L 2 , L 3 , R 1 , R 2 ) and the relative position and relative speed of another moving vehicle  2  based on image data and/or detection data, and may identify free-space candidates based on the relative positions of the still objects W 1 , W 2 , L 1 , L 2 , L 3 , R 1 , and R 2 . Alternatively, the controller  140  may identify the free-space FS 2  from the candidate of the free-space based on the relative position and the relative speed of the moving vehicle  2 . For example, the controller  140  may identify the free-space FS 2  reduced by a range in which the other vehicle  2  can move from the current relative position for the reference time in the candidate of the free-space. 
     The driver assistance system  100  creates a driving route for driving the vehicle  1  in the free-space ( 1040 ). 
     The controller  140  may create a driving route in order for the vehicle  1  to travel without colliding with an object in the free-space. In addition, the controller  140  may create a driving route for reaching a location closest to a destination within the free space within the shortest time. 
     For example, as illustrated in  FIG. 5 , when there is no other moving vehicle (opposite vehicle), the controller  140  may generate a driving route along a central portion of the free-space. 
     As another example, when there is another vehicle  2  moving as shown in  FIG. 6 , the controller  140  may generate a driving route passing through the free-space between the vehicles R 1  and R 2  on the right in order to avoid a collision with another vehicle  2 . 
     The controller  140  can create a driving route through the free-space between the vehicles R 1  and R 2  on the right under the right traffic system, and can generate a driving route through the free-space between the left vehicles L 1  and L 2  under the left traffic system. 
     The driver assistance system  100  outputs a driving signal and/or a braking signal and/or a steering signal so that the vehicle  1  travels along the driving route ( 1050 ). 
     The controller  140  generates a driving signal and/or a braking signal and/or a steering signal so that the vehicle  1  travels along the driving route, and may transmit a driving signal, a braking signal, and a steering signal to the drive system  12 , the braking system  32 , and the steering system  42 , respectively. 
     As described above, the driver assistance system  100  sets a free-space based on the relative position and/or the relative speed of objects around the vehicle  1 , and may create a driving route for driving the vehicle  1  without collision in the free-space. 
     Thereby, the driver assistance system  100  can assist the driving of the vehicle  1  so that the vehicle  1  can travel without collision with an object on a preceding vehicle and a road without lanes (eg, alleyways). 
       FIG. 7  is a diagram illustrating a method of generating a route by a driver assistance apparatus according to an exemplary embodiment.  FIGS. 8, 9, and 10  illustrate an example of generating a driving route of a vehicle according to the route generation method illustrated in  FIG. 7 . 
     As shown in  FIGS. 7, 8, 9, and 10 , a method  1100  of generating a route of the driver assistance apparatus will be described. 
     The driver assistance system  100  identifies and classifies objects around the vehicle  1  ( 1110 ). The driver assistance system  100  identifies the relative position and relative speed of objects around the vehicle  1  ( 1120 ). 
     Operations  1110  and  1120  may be the same as operations  1010  and  1020  illustrated in  FIG. 4 . 
     The driver assistance system  100  identifies the driving state of another stopped vehicle ( 1130 ). 
     As described in operation  1110  and operation  1120 , the controller  140  may identify the classification of the object and the relative speed of the object. Also, the controller  140  may identify another vehicle that is stopped based on the classification of the object and the relative speed of the object. 
     The controller  140  may identify a driving state of another stopped vehicle based on the image data of the forward-view camera  110 . Specifically, the controller  140  may identify whether another stored vehicle is stopped or parked. 
     The controller  140  may identify a light source (eg, a headlight or fog light or a tail light or a direction indicator light of a vehicle) from the image data of the forward-view camera  110 . 
     For example, the forward-view camera  110  may include a red filter and output red image data that has passed the red filter, and the controller  140  may identify whether the tail light of another vehicle is on based on the red image data. In addition, the forward-view camera  110  can output color image data, and the controller  140  can identify whether the tail light of another vehicle is on by applying a red color filter to the color image data. 
     When it is identified that the tail light of another vehicle is on, the controller  140  can determine that the vehicle with the tail light on is stopped. As shown in  FIG. 8 , when it is identified that the tail light of the right first vehicle R 1  is lit, the controller  140  may determine that the right first vehicle R 1  is stopped. 
     As another example, the forward-view camera  110  may acquire a plurality of consecutive image data, and the controller  140  may extract image data of a plurality of consecutive other vehicles from the plurality of consecutive image data. Further, the controller  140  may identify a direction indicator light whose brightness changes (blinks) at a predetermined period based on image data of a plurality of consecutive vehicles. 
     When it is identified that the direction indicator light of another vehicle is blinking, the controller  140  may determine that the vehicle whose direction indicator light is blinking is stopped. As illustrated in  FIG. 9 , when it is identified that the direction indicator light of the right first vehicle R 1  is blinking, the controller  140  may determine that the right first vehicle R 1  is stopped. 
     In addition, the controller  140  may identify a driving state of another stopped vehicle based on communication data received through the wireless communication device  61 . 
     The driver assistance system  100  may receive information on driving of another vehicle (hereinafter referred to as “driving information”) through the wireless communication device  61  installed in the vehicle  1 . For example, the controller  140  may receive location information of another vehicle (eg, an absolute position using a GPS signal), a driving speed, a steering angle, and the like through the wireless communication device  61 . 
     The controller  140  may determine whether another vehicle is stopped based on driving information of another vehicle received through the wireless communication device  61 . As shown in  FIG. 10 , the controller  140  may receive driving information of the right first vehicle R 1 , and may determine that the stationary right first vehicle R 1  is stopped based on the driving information of the first right vehicle R 1 , the controller  140 . 
     The driver assistance system  100  determines the free space based on the relative position of the object and the relative speed, and the possible movement range of another vehicle at a stop ( 1140 ). 
     The controller  140  may set a space, that is, a free-space, in which an object does not currently exist or an object does not exist within a reference time for moving the vehicle  1  based on the relative position of the stationary object and the relative position/relative speed of the moving object and the movable range of other stopped vehicles. 
     For example, as illustrated in  FIG. 8 , the controller  140  may identify a candidate of a free-space in which the object does not exist, based on the relative positions of (stopped) objects. The controller  140  may identify the relative positions of the still objects W 1 , W 2 , L 1 , L 2 , L 3 , R 1 , R 2  based on the image data and/or the sensing data. The controller  140  may identify a candidate for free-space based on the relative positions of the still objects W 1 , W 2 , L 1 , L 2 , L 3 , R 1 , and R 2 . The controller  140  may determine an available range of movement of the right first vehicle R 1  determined to be stopping based on the lit tail light. For example, the controller  140  may determine a movable range in which the right first vehicle R 1  can travel for a predetermined time based on the direction in which the right first vehicle R 1  is facing and the position of the right second vehicle R 2  obstructing the driving route of the right first vehicle R 1 . 
     The controller  140  may set the free-space from the candidate of the free-space based on the movable range in which the right first vehicle R 1  can travel. For example, the controller  140  may identify the free-space FS 3  reduced by a movable range in which the right first vehicle R 1  can travel from the candidate for the free-space. 
     As another example, as illustrated in  FIG. 9 , the controller  140  may identify the movable range of the right first vehicle R 1  determined to be stopped based on the blinking direction indicator light. Also, the controller  140  may set a free-space in which the vehicle  1  can travel, based on a movable range in which the right first vehicle R 1  can travel. In particular, since the blinking direction indicator light indicates the willingness of the driver of the right first vehicle R 1  to drive, the controller  140  may set a free-space so as not to overtake the right first vehicle R 1 . 
     As another example, as shown in  FIG. 10 , the controller  140  identifies the movable range of the right first vehicle R 1  determined to be stopped based on the driving information received through the wireless communication device  61 , and may set a free-space in which the vehicle  1  can travel based on the movable range in which the right first vehicle R 1  can travel. 
     The driver assistance system  100  generates a driving route for driving the vehicle  1  in the free-space ( 1150 ). The driver assistance system  100  outputs a driving signal and/or a braking signal and/or a steering signal so that the vehicle  1  travels along a driving route ( 1160 ). 
     Operations  1150  and  1160  may be the same as operations  1040  and  1050  shown in  FIG. 4 . 
     As described above, the driver assistance system  100  sets a free-space based on the relative position of other vehicles stopped around the vehicle, and may generate a driving route for driving the vehicle  1  without collision in the free-space. 
     Thereby, the driver assistance system  100  can assist the driving of the vehicle  1  so that even if the stopped vehicle moves abruptly, the vehicle  1  can travel without collision with the stopped vehicle. 
     DESCRIPTION OF SYMBOLS 
       
     
       
         
           
               
               
               
             
               
                   
                   
               
             
            
               
                   
                  1: vehicle 
                 100: driver assistance system 
               
               
                   
                 110: forward-view camera 
                 120: forward-view radar 
               
               
                   
                 130: corner radars 
                 131: first corner radar 
               
               
                   
                 132: second corner radar 
                 133: third corner radar 
               
               
                   
                 134: fourth corner radar 
                 140: controller