Patent Publication Number: US-11027732-B2

Title: Apparatus and method for controlling reverse driving

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This application is a continuation-in-part of U.S. application Ser. No. 16/595,815 filed on Oct. 8, 2019, which claims priority from Korean Patent Application No. 10-2018-0120061, filed on Oct. 8, 2018, which is hereby incorporated by reference for all purposes as if fully set forth herein. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present disclosure relates to an apparatus and a method for controlling reverse driving. 
     2. Description of the Prior Art 
     Drivers feel more difficulty in reverse driving than forward driving of a vehicle. This is because the driver should control a steering wheel while directly identifying several devices, such as a room mirror, side mirrors, and a rear camera, in order to check a path and obstacles during reverse driving of the vehicle. 
     For example, when a driver of a vehicle enters a restricted driving area, such as a narrow road or a dead end or a one-way street, and desires to reverse the vehicle, the driver should perform reverse driving while avoiding obstacles by identifying an interval between the vehicle and obstacles and directly determining whether the reverse driving is possible. Further, since the driver should drive the vehicle while avoiding obstacles and make the vehicle not be on one side on the reverse driving path, the driver is required to be skilled in and have special attention to driving. 
     Accordingly, technology for controlling reverse driving to assist the driver in safely and conveniently reversing the vehicle is needed. 
     SUMMARY OF THE INVENTION 
     According to the described background, an aspect of the present disclosure is to provide an apparatus and a method for controlling a reverse driving to provide driving convenience by controlling autonomous reverse driving when a vehicle enters a dead end or a one-way street by mistake. 
     Another aspect of the present disclosure is to provide an apparatus and a method for controlling reverse driving to perform autonomous reverse driving while avoiding obstacles existing behind the vehicle. 
     In accordance with an aspect of the present disclosure, an apparatus for controlling a reverse driving is provided. The apparatus includes: an image sensor operable to be disposed on a vehicle so as to have a field of view of an exterior of the vehicle, the image sensor being configured to capture image data; a location information receiver configured to receive location information of the vehicle; and a controller comprising at least one processor configured to process at least one piece of the image data captured by the image sensor and the location information, wherein the controller identifies a restricted driving area, based on at least one of a processing result of the image data and the location information, determines a reverse driving path, based on a pre-stored movement trace of the vehicle when the restricted driving area is identified, and controls movement of the vehicle to reverse the vehicle along the reverse driving path. 
     In another aspect of the present disclosure, an apparatus for controlling reverse driving is provided. The apparatus includes: an image sensor operable to be disposed at a vehicle so as to have a field of view of an exterior of the vehicle, the image sensor being configured to capture image data; a non-image sensor operable to be disposed on the vehicle so as to have a field of sensing of an exterior of the vehicle, the non-image sensor being configured to capture sensing data; a location information receiver configured to receive location information of the vehicle; a domain control unit comprising a processor configured to process at least one piece of the image data captured by the image sensor and the sensing data captured by the non-image sensor and the location information, wherein the domain control unit detects and stores a movement trace of the vehicle moving forward, identify a restricted driving area, based on at least one of the processing result of the image data, the location information, and pre-stored map information, identifies whether a reverse driving request signal is received when the restricted driving area is identified, generates one or more driving paths, based on, the stored movement trace when the reverse driving request signal is received, determines the reverse driving path, based on the one or more driving paths, and controls movement of the vehicle to reverse the vehicle along the reverse driving path. 
     In another aspect of the present disclosure, a method of controlling a reverse driving is provided. The method includes: detecting and storing a movement trace of a vehicle moving forward; identifying a restricted driving area, based on at least one of a processing result of image data, location information, and pre-stored map information; identifying whether a reverse driving request signal is received when the restricted driving area is identified, generating one or more driving paths, based on, the stored movement trace when the reverse driving request signal is received, and determining the reverse driving path, based on the one or more driving paths; and controlling movement of the vehicle to reverse the vehicle along the reverse driving path. 
     As described above, according to the present disclosure, it is possible to provide an apparatus and a method for controlling reverse driving to provide driving convenience by controlling autonomous reverse driving when a vehicle enters a dead end or a one-way street by mistake. 
     Further, according to the present disclosure, it is possible to prevent a safety accident by providing an apparatus and a method for controlling reverse driving by which a vehicle can be autonomously reversed while avoiding obstacles existing behind the vehicle. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The above and other aspects, features and advantages of the present disclosure will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: 
         FIG. 1A  illustrates elements included in an autonomous vehicle according to the present disclosure; 
         FIG. 1B  illustrates elements included in a controller according to the present disclosure; 
         FIG. 2  schematically illustrates an embodiment in which a movement trace storage unit included in a reverse driving control device stores a movement trace of a vehicle according to the present disclosure; 
         FIG. 3  schematically illustrates another embodiment in which the movement trace storage unit included in the reverse driving control device stores the movement trace of the vehicle according to the present disclosure; 
         FIG. 4  schematically illustrates an embodiment in which a restricted driving area identifier included in the reverse driving control device identifies a restricted driving area according to the present disclosure; 
         FIG. 5  schematically illustrates an embodiment in which a reverse driving path determiner included in the reverse driving control device determines a reverse driving path according to the present disclosure; 
         FIG. 6  schematically illustrates another embodiment in which the reverse driving path determiner in the reverse driving control device determines a reverse driving path according to the present disclosure; 
         FIG. 7  schematically illustrates still another embodiment in which the reverse driving path determiner in the reverse driving control device determines a reverse driving path according to the present disclosure; 
         FIG. 8  schematically illustrates an embodiment in which a local path generator included in the reverse driving control device determines a local path according to the present disclosure; 
         FIG. 9  is a flowchart illustrating an embodiment of a reverse driving control method according to the present disclosure; and 
         FIG. 10  is a flowchart illustrating another embodiment of the reverse driving control method according to the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS 
     Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the description of the elements of the present disclosure, terms “first”, “second”, “A”, “B”, “(a)”, “(b)” and the like may be used. These terms are merely used to distinguish one structural element from other structural elements, and a property, an order, a sequence and the like of a corresponding structural element are not limited by the term. It should be noted that if it is described in the specification that one component is “connected,” “coupled” or “joined” to another component, a third component may be “connected,” “coupled,” and “joined” between the first and second components, although the first component may be directly connected, coupled or joined to the second component. 
       FIG. 1A  illustrates elements included in an autonomous vehicle  10  according to the present disclosure, and  FIG. 1B  illustrates elements included in a controller  200  according to the present disclosure. 
     Referring to  FIG. 1A , the autonomous vehicle  10  according to the present disclosure includes a navigation device  110 , a map storage unit  120 , a reverse driving control device  130 , and a driving device  140 . 
     The navigation device  110  may provide location information acquired by communication with a satellite through a GPS signal. The location information indicates information related to the location of the vehicle  10 . 
     The map storage unit  120  may store map information indicating information on the map. 
     The rear drive control device  130  is a device for controlling, when it is identified that the vehicle  10  enters a dead end or a no passing road by mistake during forward driving, movement of the vehicle  10  to allow the vehicle  10  to perform the autonomous reverse driving. 
     The reverse driving control device  130  may receive information from the navigation device  110  and generate and output a reverse control signal. 
     The reverse control signal is a signal transmitted to the driving device  140  to control movement of the vehicle  10 , such as a reverse driving speed, a steering angle, or braking of the vehicle  10  when the vehicle  10  is reversed. 
     The reverse driving control device  130  may include an image sensor  131 , a location information receiver  132 , a controller  133 , and a non-image sensor  134 . 
     The image sensor  131  may be disposed in the vehicle  10  to have a field of view of an exterior of the vehicle  10  and may capture image data. 
     At least one image sensor  131  may be mounted to each part of the vehicle  10  to have a field of view of the front, side, or rear of the vehicle  10 . 
     Image information photographed by the image sensor  131  consists of image data, which corresponds to image data captured by the image sensor  131 . Hereinafter, the image information photographed by the image sensor  131  may be image data captured by the image sensor  131 . The image sensor  131  may be an image acquisition device comprising, but not limited to, a charge-coupled device (CCD), a CMOS image sensor, or a photo sensor including photodiodes. In one example, a camera may be used as the image sensor  131 . 
     The image data captured by the image sensor  131  may be generated, for example, in one format of AVI, MPEG-4, H.264, DivX, and JPEG in a raw form. The image data captured by the image sensor  131  may be processed by a processor. 
     The location information receiver  132  may receive location information of the vehicle  10 . Specifically, the location information receiver  132  may receive location information of the vehicle  10  provided from the navigation device  110  and provide the location information to perform calculations required for controlling the vehicle. 
     The controller  133  may include at least one processor configured to process at least one piece of the image data captured by the image sensor  131  and the location information. 
     The controller  133  may identify a restricted driving area on the basis of at least one of the processing result of image data and the location information, determine a reverse driving path on the basis of a pre-stored movement trace of the vehicle  10  when the restricted driving area is identified, and control movement of the vehicle to reverse the vehicle  10  according to the reverse driving path. 
     The controller  133  can be implemented as a Domain Control Unit (DCU) which may integrate and perform a function of receiving and processing information of several vehicle sensors or relaying transmission/reception of data generated by sensors and a function of controlling reverse driving of the vehicle  10  by transmitting data to a steering control module, an acceleration control module, and a brake control module. 
     The non-image sensor  134  may be disposed in the vehicle  10  to have a detection area for the outside of the vehicle  10 , and may capture sensing data. The non-image sensor may include, for example, a radar sensor, a lidar sensor, and an ultrasound sensor. 
     According to an embodiment, the reverse driving control device  130  according to the present disclosure using the DCU and the non-image sensor  134  includes the image sensor  131  operable to be disposed on the vehicle  10  so as to have a field of view of an exterior of the vehicle  10 , the image sensor  131  being configured to capture image data, the non-image sensor  134  operable to be disposed on the vehicle  10  so as to have a field of sensing of an exterior of the vehicle  10 , the non-image sensor  134  being configured to capture sensing data; the location information receiver  132  configured to receive location information of the vehicle  10 ; the domain control unit (DCU) including a processor configured to process at least one piece of the image data captured by the image sensor  131  and the sensing data captured by the non-image sensor  134  and the location information. The domain control unit (DCU) detects and stores a movement trace of the vehicle moving forward, identifies a restricted driving area, based on at least one of the processing result of the image data, the location information, and pre-stored map information, identifies whether a reverse driving request signal is received when the restricted driving area is identified, generates one or more driving paths, based on, the stored movement trace when the reverse driving request signal is received, determines the reverse driving path, based on the one or more driving paths, and controls movement of the vehicle  10  to reverse the vehicle  10  along the reverse driving path. 
     Meanwhile, the controller  133  may include elements for performing the above-described operations, respectively. The detailed elements of the controller  133  are illustrated in  FIG. 1B . 
     Referring to  FIG. 1B , a controller  200  according to the present disclosure may include a movement trace storage unit  210 , a restricted driving area identifier  220 , a rear driving path determiner  230 , and a movement controller  240 . 
     The movement trace storage unit  210  may detect and store a movement trace of the forward moving vehicle  10 . 
     The movement trace is a trace along which the vehicle  10  moves while the vehicle  10  forward moves. 
     The movement trace may be basically calculated using location information of the vehicle  10 . A detailed method thereof will be described with reference to  FIGS. 2 and 3 . 
     The restricted driving area identifier  220  may identify a restricted driving area on the basis of at least one of the processing result of the image data, the location information, and pre-stored map information. 
     The restricted driving area includes not only an area in which driving is originally restricted, such as a dead end or a one-way street but also an area, which is originally an area in which driving is possible but is not temporarily possible by other obstacles. However, the present disclosure is not limited thereto. 
     When the vehicle  10  enters a restricted driving area by mistake, the restricted driving area identifier  220  may identify the restricted driving area, detect a driving state of the vehicle  10 , and pre-identify the restricted driving area before the vehicle  10  enters the restricted driving area. 
     When the restricted driving area is identified, the reverse driving path determiner  230  may identify whether a reverse driving request signal is received, generate one or more driving paths based on the stored movement trace when the reverse driving request signal is received, and determine a reverse driving path based on the one or more driving paths. 
     The reverse driving request signal is a signal input by a driver or a user to allow the vehicle  10  to perform the autonomous reverse driving. The reverse driving request signal is an electric signal generated by a physical button or a touch screen. 
     The driving path is a path which the reverse driving path determiner  230  generates for a drive from the location of the vehicle  10 , at a time point when the reverse driving request signal is received, to a destination which the driver desires to reach. The number of driving paths may be one or more. 
     Among the driving paths, the reverse driving path refers to a driving path used when the vehicle  10  is reversed. The reverse driving path is determined on the basis of the generated driving paths. A detailed method thereof will be described below with reference to  FIGS. 5 to 7 . 
     The movement controller  240  may control movement of the vehicle  10  to allow the vehicle  10  to be reversed along the reverse driving path. That is, the movement controller  240  may generate a reverse driving control signal and transfer the reverse driving control signal to the driving device  140  in order to control movement of the vehicle  10 . 
     In order to control the reverse driving of the vehicle  10 , the movement controller  240  may calculate at least one of a target acceleration, a target speed, and a target steering angle and control movement of the vehicle  10 . 
     When the restricted driving area is identified, the movement controller  240  may first perform at least one control among deceleration control for decelerating the vehicle  10  and warning control for providing a warning. 
     For example, when the restricted driving area is identified, the movement controller  240  may generate a control signal to perform the warning operation in the vehicle  10  or put on the brake on the vehicle  10  and transfer the control signal to the driving device  140 . 
     The controller  200  may further include a local path generator  250  configured to generate a local path on the basis of at least one of the processing result of image data and driving information of the vehicle  10 . 
     The local path is a path on which the vehicle  10  should actually move while the vehicle  10  follows the reverse driving path. That is, when there are obstacles around the reverse driving path, the vehicle  10  is basically reversed along the reverse driving path but is reversed while controlling steering wheel in order to avoid the obstacles. 
     A method of generating the local path uses a Timed Elastic Band (TEB) algorithm. However, the present disclosure is not limited thereto. 
     The elements included in the controller  200  may be implemented as hardware, such as an Electronic Control Unit (ECU), a Domain Control Unit (DCU), a Micro Controller Unit (MCU), and an Integrated Circuit (IC) and software, such as an algorithm. 
     The elements included in the controller  200  may transmit and receive signals to and from each other through Controller Area Network (CAN) communication. 
     The driving device  140  may receive a reverse driving control signal causing the vehicle  10  to move. Further, the driving device  140  may receive a control signal from the ECU causing the vehicle  10  perform the warning operation. 
     Accordingly, the driving device  140  may include an acceleration/deceleration device, a steering device, a brake device, and various warning devices. However, the present disclosure is not limited thereto. 
     Hereinafter, a detailed embodiment in which the movement trace storage unit  210  included in the drive control device  130  detects and stores a movement trace of the vehicle  10  will be described. 
       FIG. 2  schematically illustrates an embodiment in which the movement trace storage unit  210  included in the drive control device  130  stores a movement trace  20  of the vehicle  10  according to the present disclosure. 
     Referring to  FIG. 2 , the movement trace  20  may be detected through a connection of location coordinates P of the vehicle  10  included in the location information of the vehicle  10 , which is acquired by reception of a GPS signal from a satellite  30  through the navigation device  110 . 
     Meanwhile, the location of the vehicle detected only on the basis of the location information of the vehicle  10  acquired through reception of the GPS signal form the satellite  30  may be different from the real location of the vehicle  10 . Accordingly, it is required to correct the location information on the basis of map information and the processing result of the image data acquired through detection of surroundings of the vehicle  10 . 
     For example, the movement trace storage unit  210  corrects the location information by matching the location information with the map information and the processing result of the image data while the vehicle  10  moves forward and detects the movement trace  20  from the corrected location information. 
     The location information is information acquired through reception of the GPS signal from the satellite  30  by the navigation device  110 , and the map information is information acquired through extraction of map information corresponding to the location information by the map storage unit  120 . 
     In other words, the movement trace storage device  210  extracts location coordinates P by analyzing the location information received from the navigation device  110 , corrects the location coordinates P by matching the location information with the map information received from the map storage unit  120  and the processing result of the image data captured by the image sensor  131 , and detects the movement trace  20  from the corrected location coordinates m. 
     The location coordinates P illustrated in  FIG. 2  may be measured in every time unit and may be successively measured in real time. However, the present disclosure is not limited thereto. 
     Meanwhile, the movement trace storage unit  210  may partially store the movement trace in order to efficiently manage a storage capacity. 
       FIG. 3  schematically illustrates another embodiment in which the movement trace storage unit  210  included in the reverse driving control device  130  stores the movement trace  20  of the vehicle  10  according to the present disclosure. 
     The movement trace storage unit  210  included in the reverse driving control device  130  according to the present disclosure may preset a reference distance d, store only the movement trace  20  corresponding to the reference distance d, and update and store the movement trace  20  while the vehicle  10  moves forward. 
     That is, the movement trace storage unit  210  stores the movement trace  20  corresponding to the preset reference distance d in the detected movement trace and updates the stored movement trace  20  in the unit of reference distance d while the vehicle  10  moves forward. 
     Referring to &lt;first time&gt; of  FIG. 3 , the movement trace storage unit  210  presets the reference distance d and stores the movement trace  20  from location coordinates m 4  of the vehicle  10  at the first time to location coordinates m 1  of the vehicle  10 , which is spaced apart from the location coordinates m 4  by the reference distance d, among previous location coordinates m 1  to m 3 . 
     The movement trace storage unit  210  updates the previously stored movement trace  20  to store only the movement trace  20  corresponding to the reference distance d while the vehicle  10  continuously moves forward. 
     Referring to &lt;second time&gt; of  FIG. 3 , the movement trace storage unit  210  updates and stores the movement trace  20  from location coordinates m 5  of the vehicle  10  at the second time of the vehicle to location coordinates m 2  of the vehicle  10 , which is spaced apart from the location coordinates m 5  by the reference distance d, among previous location coordinates m 1  to m 4 . 
     The movement trace from the location coordinates m 2  of the vehicle to the location coordinates m 1 , which is stored at the first time, may be deleted at the second time. 
       FIG. 4  schematically illustrates an embodiment in which the restricted driving area identifier  220  included in the reverse driving control device  130  identifies the restricted driving area  40  according to the present disclosure. 
     Referring to  FIG. 4 , when the driver of the vehicle  10  determines that continuously driving the vehicle forward is not possible due to the existence of obstacles (not shown) on the road in front of the vehicle  10 , the vehicle  10  may enter another road, for example, a road located at the left of the vehicle  10 . 
     Meanwhile, when the other road is a restricted driving area  40  such as a dead end or a one-way street, the restricted driving area identifier  220  may inform the driver of the restricted driving area  40  before the vehicle  10  enters the restricted driving area  40 . 
     For example, when a left turn signal of the vehicle  10  is turned on, the restricted driving area identifier  220  may predict a driving path of the vehicle  10  moving forward on the basis of location information of the vehicle  10  and map information corresponding to the location information of the vehicle  10 , so as to identify the restricted driving area  40  in front of the vehicle  10 . 
     In order to inform the driver of the vehicle entering the restricted driving area  40 , the restricted driving area identifier  220  may display the restricted driving area  40  on a display screen  50  mounted to the vehicle  10 . However, the present disclosure is not limited thereto. 
     When the restricted driving area identifier  220  identifies the restricted driving area  40 , the driver may have difficulty in manually reversing the vehicle and thus it is required to allow the vehicle  10  to be autonomously reversed. 
     Hereinafter, an embodiment for determining a reverse driving path on which the vehicle  10  is autonomously reversed will be described. 
       FIG. 5  schematically illustrates an embodiment in which the reverse driving path determiner  230  included in the reverse driving control device  130  according to the present disclosure determines a reverse driving path. 
     When the restricted driving area  40  is identified, the driver may generate a reverse driving request signal through a physical button. 
     Referring to  FIGS. 2 to 5 , the reverse driving path determiner  230  may receive a reverse driving request signal and determine a reverse driving path based on a driving path  60  generated on the basis of the movement trace  20  stored in the movement trace storage unit  210 . 
     For example, the movement trace storage unit  210  corrects location information by matching the location information with map information and the processing result of image data while the vehicle  10  moves forward and detects the movement trace  20  from the corrected location information, and the reverse driving path determiner  230  generates the driving path  60  that matches the entire movement trace and determines the driving path  60  as the reverse driving path. 
     The reverse driving request signal may include indication information indicating a target point t. That is, the driver may generate a reverse driving request signal to make the vehicle  10  reversed up to only the target point t on the reverse driving path. 
     For example, the reverse driving path determiner  230  identify the target point t from the indication information and determine a path from a location m of the vehicle  10  to the target point t in the generated driving path  60  as the reverse driving path. 
     Although not illustrated, the reverse driving path determiner  230  may determine whether the vehicle  10  can be reversed along the reverse driving path on the basis of information on whether there is an obstacle detected on the driving path  60 . When the vehicle cannot be reversed, the reverse driving path determiner  230  may generate a driving path different from the driving path  60  on the basis of the location information and the map information and determine again the driving path as the reverse driving path. 
       FIG. 6  schematically illustrates another embodiment in which the reverse driving path determiner  230  included in the reverse driving control device  130  according to the present disclosure determines a reverse driving path. 
     Referring to  FIGS. 3 and 6 , when the movement trace storage unit  210  partially stores the movement trace  20  in order to efficiently manage the storage capacity, the reverse driving path determiner  230  may generate the driving path  60  that matches the partially stored movement trace  20  and determine the generated driving path  60  as the reverse driving path. 
     For example, the movement trace storage unit  210  stores the movement trace  20  corresponding to a preset reference distance d in the detected movement trace and updates the stored movement trace  20  in the unit of reference distance d while the vehicle  10  moves forward, and the reverse driving path determiner  230  generates the driving path  60  that matches the movement trace  20  and determines the driving path  60  as the reverse driving path. 
     The reference distance d is set from location coordinates m 8  corresponding to the current location of the vehicle  10  to location coordinates m 4  which is one of the previous location coordinates m 7  to m 1 , but this merely helps in understanding of the present disclosure and the present disclosure is not limited thereto. 
       FIG. 7  schematically illustrates still another embodiment in which the reverse driving path determiner  230  included in the reverse driving control device  130  according to the present disclosure determines a reverse driving path. 
     Referring to  FIGS. 2 and 7 , when the vehicle  10  moves forward while leaning one side of the road, a driving path that matches the movement trace  20  is determined as a reverse driving path, and the vehicle  10  is reversed, the vehicle  10  may bump into or be scratched by a road curb or a surrounding obstacle. 
     Accordingly, the reverse driving path determiner  230  may generate a driving path based on map information in order to generate a safer driving path than the driving path that matches the movement trace  20 . 
     For example, the reverse driving path determiner  230  generates a driving path  70  on the movement trace  20  on the basis of map information at the location of the vehicle  10  and determines the driving path  70  as the reverse driving path. 
     The location of the vehicle  10  corresponds to current location coordinates m 8  of the vehicle  10  and previous location coordinates m 1  to m 7 , the map information corresponds to the location of the vehicle  10 , and the driving path  70  corresponds to a driving path based on the map. 
     Meanwhile, the reverse driving path determiner  230  may generate both the driving path  60  that matches the movement trace  20  and the driving path  70  based on the map information, and determine one of the two driving paths as the reverse driving path. 
     For example, the reverse driving path determiner  230  generates a first driving path  60  that matches the movement trace  20  and a second driving path  70  corresponding to the movement trace on the basis of the map information at the location of the vehicle, selects one of the first driving path  60  and the second driving path  70 , and determines the selected driving path as the reverse driving path. 
     When the reverse driving path determiner  230  determines the reverse driving path, the vehicle  10  may be reversed along the reverse driving path. At this time, when there is an obstacle on the reverse driving path, it is required to generate a local path to make the vehicle  10  avoid the obstacle. 
       FIG. 8  schematically illustrates an embodiment in which the local path generator  250  included in the reverse driving control device  130  according to the present disclosure determines a local path  90 . 
     Referring to  FIGS. 5 and 8 , when the reverse driving path determiner  230  determines the driving path  60  as the reverse driving path, the local path generator  250  may generate the local path  90  to allow the vehicle  10  to avoid a collision in consideration of a possibility of a collision with a target  80  existing on the reverse driving path when the vehicle  10  is actually reversed along the reverse driving path. 
     Specifically, when at least one of the processing result of image data captured by the image sensor and the processing result of sensing data captured by the non-image sensor is transmitted to the local path generator  250  and when driving information of the vehicle  10  such as vehicle speed information and steering angle information is transmitted to the local path generator  250 , the local path generator  250  generates a local path to avoid the collision with the target  80  by calculating the received processing result and driving information. 
     In one example, prior to determining the reverse driving path and in response to the detection of the restricted driving area, the controller  200  may control an output device such as a display or a speaker of the vehicle to output information, such as a warning message, indicating the restricted driving area. The controller  200  may be configured to receive a command from the driver through an input device, such as a button, a knob, a touchscreen, and a voice recognition device installed in the vehicle, whether to perform an autonomous reverse driving operation, and be configured to control the vehicle based on the received command. 
     In one example, prior to determining the reverse driving path and in response to a receipt of a turn signal to the restricted driving area, the controller  200  may control the output device to output the information indicating the restricted driving area. The controller  200  may be configured to receive a command from the driver through the input device whether to perform an autonomous reverse driving operation, and be configured to control the vehicle based on the received command. 
     In one example, prior to determining the reverse driving path and in response to a determination that the vehicle drives towards the restricted driving area, the controller  200  may control the output device to output the information indicating the restricted driving area. The controller  200  may be configured to receive a command from the driver through the input device whether to perform an autonomous reverse driving operation, and be configured to control the vehicle based on the received command. 
     In one example, prior to determining the reverse driving path and in response to a determination that the vehicle drives in the restricted driving area, the controller  200  may control the output device to output the information indicating the restricted driving area. The controller  200  may be configured to receive a command from the driver through the input device whether to perform an autonomous reverse driving operation, and be configured to control the vehicle based on the received command. 
     Hereinafter, a reverse driving control method by which the present disclosure can be implemented will be described. 
       FIG. 9  is a flowchart illustrating an embodiment of a reverse driving control method according to the present disclosure. 
     Referring to  FIG. 9 , the reverse driving control method according to the present disclosure may include a step S 910  of detecting and storing a movement trace of a vehicle moving forward, a step S 920  of identifying a restricted driving area, based on at least one of a processing result of image data, location information, and pre-stored map information, a step S 930  of identifying whether a reverse driving request signal is received when the restricted driving area is identified, generating one or more driving paths, based on, the stored movement trace when the reverse driving request signal is received, and determining the reverse driving path, based on the one or more driving paths, and a step S 940  of controlling movement of the vehicle to reverse the vehicle along the reverse driving path. 
     Hereinafter, a detailed embodiment of the reverse driving control method according to the present disclosure will be described. 
       FIG. 10  is a flowchart illustrating another embodiment of the reverse driving control method according to the present disclosure. 
     Referring to  FIG. 10 , in the reverse driving control method according to the present disclosure, a movement trace of a vehicle moving forward is detected and stored in S 1010 . 
     When the movement trace is stored, it is identified whether the vehicle  10  enters a restricted driving area in S 1020  in the reverse driving control method according to the present disclosure. 
     When it is identified that the vehicle  10  enters the restricted driving area, it is identified whether a reverse driving request signal is received from a driver in S 1030  in the reverse driving control method according to the present disclosure. 
     When the reverse driving request signal is received, one or more driving paths are generated on the basis of the stored movement trace and a reverse driving path is determined on the basis of the one or more generated driving paths in S 1040  in the reverse driving control method according to the present disclosure. 
     When the reverse driving path is determined, the vehicle  10  is reversed along the reverse driving path, but if there is a target on the reverse driving path, a local path is generated to allow the vehicle  10  to be reversed while avoiding the target in S 1050  in the reverse driving control method according to the present disclosure. 
     In the reverse driving control method according to the present disclosure, a target speed, a target steering angle, and a target acceleration are calculated to allow the vehicle  10  to reach a target point of the reverse driving path in S 1060 . 
     In the reverse driving control method according to the present disclosure, it is determined whether the vehicle  10  reaches the target point in S 1070  and step  1070  is continuously performed until the vehicle  10  reaches the target point. 
     When the vehicle  10  reaches the target point, the reverse driving control method according to the present disclosure ends the reverse driving control operation according to the present disclosure. 
     The aforementioned controller (or control unit) and/or the components thereof may include one or more processors/microprocessors coupled with a computer readable recording medium storing computer readable code/algorithm/software. The processor(s)/microprocessor(s) may perform the above described functions, operations, steps, etc., by executing the computer readable code/algorithm/software stored on the computer readable recording medium. 
     The aforementioned controller (or control unit) and/or the components thereof may be provided with, or further include, a memory implemented as a non-transitory computer readable recording medium or a transitory computer readable recording medium. The memory may be controlled by the aforementioned controller (or control unit) and/or the components thereof, and be configured to store data transmitted to/from the aforementioned controller (or control unit) and/or the components thereof or configured to store data processed or to be processed by the aforementioned controller (or control unit) and/or the components thereof. 
     The present disclosure can also be embodied as computer readable code/algorithm/software stored on a computer readable recording medium. The computer readable recording medium may be a non-transitory computer readable recording medium such as a data storage device that can store data which can thereafter be read by a processor/microprocessor. Examples of the computer readable recording medium include a hard disk drive (HDD), a solid state drive (SSD), a silicon disc drive (SDD), read-only memory (ROM), CD-ROM, magnetic tapes, floppy disks, optical data storage devices, etc. As described above, according to the present disclosure, it is possible to provide an apparatus and a method for controlling a reverse driving to provide driving convenience by controlling an autonomous reverse driving when a vehicle enters a dead end or a one-way street by mistake. 
     Further, according to the present disclosure, it is possible to prevent a safety accident by providing an apparatus and a method for controlling a reverse driving by which a vehicle can be autonomously reversed while avoiding obstacles existing in the back of the vehicle. 
     The above description and the accompanying drawings provide an example of the technical idea of the present disclosure for illustrative purposes only. Those having ordinary knowledge in the technical field, to which the present disclosure pertains, will appreciate that various modifications and changes in form, such as combination, separation, substitution, and change of a configuration, are possible without departing from the essential features of the present disclosure. Therefore, the embodiments disclosed in the present disclosure are intended to illustrate the scope of the technical idea of the present disclosure, and the scope of the present disclosure is not limited by the embodiment. That is, at least two elements of all structural elements may be selectively joined and operate without departing from the scope of the present disclosure. The scope of the present disclosure shall be construed on the basis of the accompanying claims in such a manner that all of the technical ideas included within the scope equivalent to the claims belong to the present disclosure.