Patent Publication Number: US-2020290605-A1

Title: Apparatus, system, and method for vehicle collision avoidance control

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This application is a continuation of U.S. patent application Ser. No. 16/172,244, filed Oct. 26, 2018 which claims priority from Korean Patent Application No. 10-2017-0140512, filed on Oct. 26, 2017, both of which are 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, system, and method for vehicle collision avoidance control. 
     2. Description of the Prior Art 
     In the travel of a vehicle, the danger of collision continuously resides due to various factors, such as a driver&#39;s carelessness and another vehicle&#39;s invasion of a travel lane. 
     For this reason, various control technologies are under development to avoid vehicle collision. 
     According to existing control technologies for avoiding vehicle collision, only a change in the movement of a preceding vehicle is sensed to control movement of the corresponding vehicle accordingly. 
     However, when a preceding vehicle is likely to suddenly change its movement despite no change or a subtle change in the movement, it is not possible to immediately take a preventive measure against vehicle collision. 
     Therefore, immediate and rapid control is very required to avoid vehicle collision not only when movement of a preceding vehicle is changed but also when the preceding vehicle is likely to suddenly change its movement despite no change or a subtle change in the movement. 
     SUMMARY OF THE INVENTION 
     In this background, the present disclosure is to provide an apparatus, system, and method for vehicle collision avoidance control, the apparatus, system, and method being capable of avoiding vehicle collision by rapidly recognizing that an area in front of a vehicle which is traveling at high velocity is likely to be congested. 
     Also, the present disclosure is to provide an apparatus, system, and method for vehicle collision avoidance control, the apparatus, system, and method being capable of immediate and rapid control for avoiding vehicle collision not only when movement of a preceding vehicle is changed but also when the preceding vehicle is likely to suddenly change its movement despite no change or a subtle change in the movement. 
     Further, the present disclosure is to provide an apparatus, system, and method for vehicle collision avoidance control, the apparatus, system, and method enabling immediate and rapid control for avoiding vehicle collision when an area is suddently congested while a vehicle is traveling at high velocity. 
     Moreover, the present disclosure is to provide an apparatus, system, and method for vehicle collision avoidance control, the apparatus, system, and method being capable of recognizing information which accurately indicates a probability that movement of a preceding vehicle will be suddenly changed despite no change or a subtle change in the movement and capable of using the information for vehicle collision avoidance control. 
     An embodiment provides an apparatus for vehicle collision avoidance control, the apparatus processing image data captured by an image sensor, which is disposed in a vehicle, has a field of view out of the vehicle, and captures image data, recognizing blinking of hazard lights of a preceding vehicle on the basis of front image data captured by the image sensor when the velocity of the vehicle is a control-involved velocity or higher, and performing one or more of driver warning and deceleration control accordingly. 
     An embodiment provides a system for vehicle collision avoidance control, the system including: a sensing module including at least an image sensor, which is disposed in a vehicle, has a field of view out of the vehicle, and captures image data, and configured to sense an object nearby the vehicle; and a controller including a processor configured to process the image data captured by the image sensor, wherein the controller recognizes blinking of hazard lights of a preceding vehicle of the vehicle at least partially based on processing of the image data captured by the image sensor and performs one or more of driver warning and deceleration control accordingly. 
     The controller may include an apparatus for vehicle collision avoidance control, and the apparatus for vehicle collision avoidance control may include: a control-starting module configured to determine whether a velocity of the vehicle is a control-involved velocity or higher; a hazard-light blinking recognition module configured to recognize blinking of the hazard lights of the preceding vehicle in front of the vehicle when the velocity of the vehicle is determined to be the control-involved velocity or higher; and a control processing module configured to perform one or more of driver warning and deceleration control when blinking of the hazard lights of the preceding vehicle is recognized. 
     At a point in time when blinking of the hazard lights of the preceding vehicle is recognized, the preceding vehicle may be traveling at a certain velocity or lower or have stopped in a lane in which the vehicle is traveling or an adjacent lane of the lane. 
     The control processing module may issue a driver warning when blinking of the hazard lights of the preceding vehicle is recognized, determine whether the vehicle is currently in danger of collision with the preceding vehicle, and perform deceleration control when it is determined that the vehicle is currently in danger of collision with the preceding vehicle. 
     Another embodiment provides a system for vehicle collision avoidance control, the system including a camera configured to acquire a front video, and a vehicle collision avoidance control apparatus configured to perform one or more of driver warning and deceleration control in response to blinking of hazard lights of a preceding vehicle of a vehicle on the basis of the front video when a velocity of the vehicle is a control-involved velocity or higher. 
     Another embodiment provides a method for vehicle collision avoidance control, the method including: a first operation of determining whether a velocity of a vehicle is a control-involved velocity or higher; a second operation of processing front image data captured by an image sensor, which is disposed in the vehicle, has a field of view out of the vehicle, and captures image data, and recognizing blinking of hazard lights of a preceding vehicle of the vehicle when the velocity of the vehicle is determined to be the control-involved velocity or higher; and a third operation of performing one or more of driver warning and deceleration control when blinking of the hazard lights of the preceding vehicle is recognized. 
     At a point in time when blinking of the hazard lights of the preceding vehicle is recognized, the preceding vehicle may be traveling at a certain velocity or lower or have stopped in a lane in which the vehicle is traveling or an adjacent lane of the lane. 
     The third operation in the method may include: issuing a driver warning when blinking of the hazard lights of the preceding vehicle is recognized; determining whether the vehicle is currently in danger of collision with the preceding vehicle; and performing deceleration control when it is determined that the vehicle is currently in danger of collision with the preceding vehicle. 
     Meanwhile, the third operation may include issuing a rear warning for notifying a front situation of the vehicle to a following vehicle of the vehicle. 
     Another embodiment provides a system for vehicle collision avoidance control, the system including: a sensing module configured to include one or more of an image sensor which is disposed in a vehicle, has a field of view out of the vehicle, and captures image data and a non-image sensor which is disposed in the vehicle and captures sensing data to sense one of objects nearby the vehicle; a vehicle movement control module configured to control one or more of a velocity, a braking force, and a steering angle of the vehicle; a warning module configured to output a warning signal to a driver; and a domain controller configured to process one or more of the image data captured by the image sensor and the sensing data captured by the non-image sensor and control the warning module or the vehicle movement control module, wherein the domain controller recognizes blinking of hazard lights of a preceding vehicle of the vehicle at least partially based on processing of the image data captured by the image sensor and performs one or more of driver warning through the warning module and deceleration control through the vehicle movement control module. 
    
    
     
       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. 1  is a block diagram of a system for vehicle collision avoidance control according to an embodiment of the present disclosure; 
         FIG. 2  shows recognition of blinking of hazard lights of a preceding vehicle for vehicle collision avoidance control according to an embodiment of the present disclosure; 
         FIG. 3  is a block diagram of an apparatus for vehicle collision avoidance control according to an embodiment of the present disclosure; 
         FIG. 4  shows an example of vehicle collision avoidance control according to an embodiment of the present disclosure; 
         FIG. 5  is a flowchart illustrating a method for vehicle collision avoidance control according to an embodiment of the present disclosure; and 
         FIG. 6  is a detailed flowchart illustrating a method for vehicle collision avoidance control according to an embodiment of 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 adding reference numerals to elements in each drawing, the same elements will be designated by the same reference numerals if possible, although they may be shown in different drawings. 
     Further, in the following description of the present disclosure, a detailed description of known functions or configurations incorporated herein will be omitted when it is determined that the description may make the subject matter of the present disclosure rather unclear. 
     In describing elements of embodiments of the present disclosure, terms such as “first,” “second,” “A,” “B,” “(a),” and “(b)” may be used. Such terms are used only to distinguish an element from another element, but do not limit the substance, sequence, order, number, or the like of elements. It should be noted that when one component is described as being “connected,” “coupled,” or “joined” to another component, still another component may be “interposed” between the two components or the two components may be “connected,” “coupled,” or “joined” to each other via the other component, even though the component may be directly “connected,” “coupled,” or “joined” to the other component. 
       FIG. 1  is a block diagram of a system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure.  FIG. 2  shows recognition of blinking of hazard lights of a preceding vehicle  210  for vehicle collision avoidance control according to an embodiment of the present disclosure. 
     Referring to  FIG. 1 , the system  10  for vehicle collision avoidance control installed in a vehicle  200  may include a camera  110  which acquires a front video of the vehicle  200 , an apparatus  100  for vehicle collision avoidance control (referred to as “vehicle collision avoidance control apparatus” below) which performs vehicle collision avoidance control including one or more of driver warning and deceleration control in response to blinking of hazard lights  211  of the preceding vehicle  210  of the vehicle  200  based on the front video when a velocity of the vehicle  200  is a control-involved velocity or higher, and the like. 
     Here, the vehicle  200  in which the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure is installed is also referred to as the “corresponding vehicle.” 
     In addition to a vehicle image sensor such as the camera  110 , the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure may include a non-image sensor such as a radar sensor and an ultrasonic sensor. The image sensor and/or the non-image sensor may be referred to as a sensing module. 
     The system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure may include the vehicle collision avoidance control apparatus  100 , and the vehicle collision avoidance control apparatus  100  may be implemented as a controller, a domain control unit (DCU), or a domain controller which performs functions to be described helow. The sensing module according to an embodiment of the present disclosure may include a non-image sensor and the like which is disposed in a vehicle and captures sensing data to sense one of objects nearby the vehicle in addition to an image sensor or the camera  110  which is disposed in the vehicle, has a field of view out of the vehicle, and captures image data. 
     A vehicle camera applied to an embodiment of the present disclosure may be indicated by other terms such as an image system, a vision system, an image sensor, or the like. The vehicle camera may include a front camera having a field of view to the front of a vehicle, a rear camera having a field of view to the rear of the vehicle, a posterolateral camera having a field of view to a lateral or a posterolateral direction of the vehicle, and the like. In some cases, the vehicle camera may selectively include one or more of such cameras of several directions. 
     Such a camera functions to capture image data of the vicinity of a vehicle and transfer the image data to a processor or the controller, and a vision system or an image sensor according to an embodiment of the present disclosure may additionally include an electronic control unit (ECU) or an image processor which functions to process the captured image data and display the image data on a display and the like. 
     Also, a vision system, an image sensor, or the like according an embodiment of the present disclosure may use an appropriate data link or communication link, such as a vehicle network bus, for data transmission or signal communication from a camera to an image processor. 
     Further, a vehicle to which an embodiment of the present disclosure is applied may additionally include a non-image sensor such as a radar sensor or an ultrasonic sensor. 
     A radar sensor or a radar system used as a non-image sensor in the present disclosure may include at least one radar sensor unit, for example, one or more of a front radar sensor installed on a front side of a vehicle, a rear radar sensor installed on a rear side of the vehicle, and a lateral or posterolateral radar sensor installed on each lateral side of the vehicle. Such a radar sensor or radar system may process data by analyzing a transmission signal and a reception signal and detect information on an object accordingly, and may include an ECU or a processor for the purpose. For data transmission or signal communication from the radar sensor to the ECU, a communication link, such as an appropriate vehicle network bus, may be used. 
     Such a radar sensor includes one or more transmitting antennas which transmit a radar signal and one or more receiving antennas which receive a signal reflected by an object. 
     Meanwhile, a radar sensor according to an embodiment of the present disclosure may employ a multi-dimensional antenna arrangement and a multiple-input multiple-output (MIMO) signal transmission and reception method to form a virtual antenna aperture larger than an actual antenna aperture. 
     For example, a two-dimensional (2D) antenna array is used to achieve angular precision and resolutions horizontally and vertically. When a 2D radar antenna array is used, signals are transmitted and received through (time-multiplexed) two separate scanning operations, that is, horizontal and vertical scannining operations, and MIMO may be used separately from horizontal and vertical scanning (time-multiplexing) of the 2D radar antenna. 
     More specifically, the radar sensor according to an embodiment of the present disclosure may employ a 2D antenna array composed of a transmitting antenna unit including a total of 12 transmitting antennas Tx and a receiving antenna unit including 16 receiving antennas Rx, thus having an arrangement of a total of 192 virtual receiving antennas. 
     In this case, the transmitting antenna unit may have three transmitting antenna groups each including four transmitting antennas. A first transmitting antenna group may be vertically spaced apart from a second transmitting antenna group by a certain distance, and the first or second transmitting antenna group may be horizontally spaced apart from a third transmitting antenna group by a certain distance D. 
     Also, the receiving antenna unit may have four receiving antenna groups each including four receiving antennas. The respective receiving antenna groups may be disposed to be vertically spaced apart and may be disposed between the first transmitting antenna group and the third transmitting antenna group which are horizontally spaced apart. 
     According to another embodiment of the present disclosure, antennas of a radar sensor may be disposed in a 2D antenna array. As an example, antenna patches may be arranged in a rhombic lattice so that unnecessary side lobes may be reduced. 
     Otherwise, a 2D antenna arrangement may include a V-shaped antenna array in which multiple radiation patches are disposed in a V shape and more specifically, may include two V-shaped antenna arrays. In this case, a single feed is made at the apex of each V-shaped antenna array. 
     Otherwise, a 2D antenna arrangement may include an X-shaped antena array in which multiple radiation pathces are disposed in a X shape and more specifically, may include two X-shaped antenna arrays. In this case, a single feed is made at the center of each X-shaped antenna array. 
     The radar sensor according to an embodiment of the present disclosure may use a MIMO antenna system to implement sensing accuracy and resolutions horizontally and vertically. 
     More specifically, in the MIMO system, respective transmitting antennas may transmit signals which have independent waveforms distinguished from each other. In other words, each transmitting antenna transmits a signal having an independent waveform distinguished from waveform of other transmitting antennas, and each receiving antenna may determine which transmitting antenna has transmited a signal reflected by an object due to different waveforms of the signals. 
     The radar sensor according to an embodiment of the present disclosure may include a radar housing which accommodates a substrate and circuit including transmitting and receiving antennas and a radome which provides the appearance of the radar housing. In this case, the radome may be made of a material for reducing attentuation of radar signals transmitted and received and may constitute front and rear bumpers or grilles of a vehicle, a laterial body of the vehicle, or an external surface of a vehicle component. 
     In other words, the radome of the radar sensor may be disposed in a grille, a bumper, a body, or the like of a vehicle or may be disposed as one of parts, such as the grille or the bumper of the vehicle or a part of the vehicle body, constituting an external surface of the vehicle, thereby providing convenience in installing the radar sensor as well as a good appearance of the vehicle. 
     Also, a vehicle kinematic sensor disposed in a vehicle may be further included to sense information related to travel of the vehicle, and a speed sensor and the like may be used as the vehicle kinematic sensor. 
     As described above, the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure performs vehicle collision avoidance control in response to blinking of the hazard lights  211  of the preceding vehicle  210  so that the vehicle  200  does not collide with the preceding vehicle  210 . 
     As an example, the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure may perform vehicle collision avoidance control on the basis of recognition of blinking of hazard lights when the vehicle  200  travels at high velocity. 
     The preceding vehicle  210  may be traveling at a certain velocity or lower or have stopped in a lane in which the vehicle  200  is traveling or an adjacent lane of the lane at a point in time when blinking of the hazard lights  211  of the preceding vehicle  210  is recognized so that the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure may perform vehicle collision avoidance control on the basis of recognition of blinking of hazard lights. 
     In other words, the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure may be implemented as a part of a traffic jam assist function for assisting driving in a congested area of a highway or a local road. 
     Specifically, whether the vicitiny of the vehicle  200  is congested is determined using a sensing signal of one or more the image sensor and the non-image sensor included in the sensing module, an output signal of a navigation device and the like for detecting traffic conditions, and and a signal received from an external source through vehicle-to-everything (V2X) communication and the like. 
     When it is determined that the vicinity of the vehicle  200  is congested, the vehicle collision avoidance control apparatus  100  or the controller of the system  10  for vehicle collision avoidance control may recognize blinking of the hazard lights  211  of the preceding vehicle  210  by processing a sensing signal of the image sensor of the sensing module and perform vehicle collision avoidance control for avoiding collision with the preceding vehicle  210 . 
     Here, the vehicle collision avoidance control may be warning to a driver of the vehicle  200 , velocity control (deceleration) of the vehicle  200 , rear warning to a following vehicle, and the like. 
     In other words, when blinking of the hazard lights  211  of the preceding vehicle  210  traveling at low velocity or having stopped is recognized while the vehicle  200  is traveling at high velocity, the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure may perform vehicle collision avoidance control for avoiding collision with the preceding vehicle  210 . 
     For example, when an area in front of the vehicle  200  is congested while the vehicle  200  is traveling on a highway, the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure may perform vehicle collision avoidance control for avoiding collision with the preceding vehicle  210  which is in or has just entered the congested area of the highway. 
     When blinking of the hazard lights  211  of the preceding vehicle  210  is recognized, the vehicle collision avoidance control apparatus  100  in the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure issues a driver warning for notifying a current situation (i.e., a situation in which the hazard lights  211  of the preceding vehicle  210  are blinking or a congested area is in front of the vehicle  200 ) to the driver of the vehicle  200  and determines whether the vehicle  200  is currently in danger of collision with the preceding vehicle  210 . 
     When it is determined that the vehicle  200  is currently in danger of collision, the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure may perform deceleration control. 
     For example, the vehicle collision avoidance control apparatus  100  according to an embodiment of the present disclosure compares a current braking amount of the vehicle  200  and a braking amount (a threshold value) required for avoiding collision and determines that the vehicle  200  is currently in danger of collision when the current braking amount of the vehicle  200  is less than the braking amount (the threshold value) required for avoiding collision. 
     Specifically, the vehicle collision avoidance control apparatus  100  or the controller calculates a distance and a relative velocity with respect to the preceding vehicle  210  on the basis of a sensing signal of the sensing module and calculates a time to collision (TTC) with the preceding vehicle  210  on the basis of the distance and the relative velocity. 
     Whether the vehicle  200  is in danger of collision may be determined using the calculated TTC and the braking performance of the corresponding vehicle  200 , and a velocity or steering of the corresponding vehicle  200  may be controlled accordingly. 
     For example, when it is possible to avoid collision with the preceding vehicle  210  by applying a maximum braking force to the corresponding vehicle  200 , deceleration control or brake control is performed on the corresponding vehicle  200 . 
     On the other hand, when collision with the preceding vehicle  210  is expected despite the maximum braking force applied to the corresponding vehicle  200 , it is possible to perform autonomous emergency steering for moving the vehicle  200  laterally by giving forced steering force in a safe direction after recognizing an obstacle existing behind in the left or right lane of the vehicle  200  on the basis of a sensing signal of the non-image sensor and the like. Also, when blinking of the hazard lights  211  of the preceding vehicle  210  is recognized, the vehicle collision avoidance control apparatus  100  according to an embodiment of the present disclosure may issue a rear warning for notifying the current situation of the vehicle  200 , that is, the front situation of the vehicle  200 , to a following vehicle of the vehicle  200 . 
     The rear warning may be, for example, blinking of hazard lights  201  of the vehicle  200 , sounding of an alarm, transmission of a warning signal to the following vehicle through V2X communication, and the like. 
       FIG. 3  is a block diagram of the vehicle collision avoidance control apparatus  100  according to an embodiment of the present disclosure, and  FIG. 4  shows an example of vehicle collision avoidance control according to an embodiment of the present disclosure. 
     Referring to  FIG. 3 , the vehicle collision avoidance control apparatus  100  according to an embodiment of the present disclosure may include a control starting module  310  which determines whether the velocity of the vehicle  200  is a control-involved velocity or higher, a hazard-light blinking recognition module  320  which recognizes blinking of the hazard lights  211  of the preceding vehicle  210  in front of the vehicle  200  when it is determined that the velocity of the vehicle  200  is the control-involved velocity or higher, and a control processing module  330  which performs one or more of driver warning and deceleration control when blinking of the hazard lights  211  of the preceding vehicle  210  is recognized. 
     At a point in time when blinking of the hazard lights  211  of the preceding vehicle  210  is recognized, the preceding vehicle  210  may be traveling at a certain velocity or lower or have stopped in the lane in which the vehicle  200  is traveling or an adjacent lane of the lane. When blinking of the hazard lights  211  of the preceding vehicle  210  is recognized, the control processing module  330  may issue a driver warning for notifying the current situation to the driver of the vehicle  200  and determine whether the vehicle  200  is currently in danger of collision with the preceding vehicle  210 . When the vehicle  200  is determined to be currently in danger of collision with the preceding vehicle  210 , the control processing module  330  may perform vehicle collision avoidance control corresponding to deceleration control. 
     When a braking amount of the vehicle  200  is currently smaller than the threshold value, the control processing module  330  may determine that the vehicle  200  is currently in danger of collision with the preceding vehicle  210 . 
     Here, the current braking amount of the vehicle  200  may be a braking amount input by the driver&#39;s manipulation. 
     The braking amount (the threshold value) required for avoiding collision may be calculated, for example, by the vehicle collision avoidance control apparatus  100  on the basis of a distance between the vehicle  200  and the preceding vehicle  210 , a relative velocity between the vehicle  200  and the preceding vehicle  210 , and the like. 
     The distance between the vehicle  200  and the preceding vehicle  210  may be obtained by a sensor such as a radar installed in the vehicle  200 . 
     The relative velocity between the vehicle  200  and the preceding vehicle  210  may be obtained by a sensor such as a radar, a vehicle velocity sensor, and/or the like installed in the vehicle  200 . 
     When blinking of the hazard lights  211  of the preceding vehicle  210  is recognized, the control processing module  330  may perform vehicle collision avoidance control including a rear warning for notifying the front situation of the vehicle  200  to the following vehicle of the vehicle  200 . 
     To notify the current situation (blinking of the hazard lights  211  of the preceding vehicle  210 , a congested area in front of the vehicle  200 , the probability of vehicle collision, or the like) to a driver of the following vehicle behind the vehicle  200 , the rear warning may include one or more of blinking of hazard lights, that is, to blink the hazard lights  201  of the vehicle  200 , alarm sounding, that is, to sound the alarm of the vehicle  200 , and the like. 
     Also, the rear warning may include transmission of a signal including information on the current situation (blinking of the hazard lights  211  of the preceding vehicle  210 , a congested area in front of the vehicle  200 , the probability of vehicle collision, or the like) to the driver of the following vehicle behind the vehicle  200  through V2X communication and the like. 
     To this end, the vehicle  200  may additionally include a V2X communicator, and the V2X communicator supports vehicle-to-vehicle communication or V2X communication, which is vehicle-to-infrastructure communication, and may receive traffic information from other nearby vehicles or nearby infrastructure equipment. 
     A communication method of the V2X communicator may be wireless access in vehicular environment (WAVE) communication which uses a communication frequency of 5.9 GHz in the form of a multi-hop network, but is not limited thereto. 
     The V2X communicator functions to generate a rear warning signal on the basis of recognition information of blinking of the hazard lights  211  of the preceding vehicle  210  received from the control processing module  330  and wirelessly transmit the rear warning signal. 
     When blinking of the hazard lights  211  of the preceding vehicle  210  is recognized and then is stopped, the control processing module  330  may maintain the preceding vehicle as a control target and perform deceleration control of the vehicle  200 . 
     Specifically, the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure may include an adaptive cruise control (ACC) module which follows a target ahead. When blinking of the hazard lights  211  of the preceding vehicle  210  is recognized and then the blinking is not recognized any more, the control processing module  330  may activate or control the ACC module to set the preceding vehicle  210  as a target and follow the preceding vehicle  210 . 
     In other words, the control processing module  330  issues a driver warning or performs vehicle deceleration control when blinking of the hazard lights  211  of the preceding vehicle  210  is recognized, and performs ACC targeting the preceding vehicle  210  when blinking of the hazard lights  211  is not recognized thereafter. In this way, it is possible to provide greater convenience to the driver while avoiding collision in a congested area. 
     Meanwhile, when blinking of the hazard lights  211  of the preceding vehicle  210  is not recognized, the control processing module  330  may perform deceleration control on the basis of a TTC with the preceding vehicle  210 . 
     As an example, the control processing module  330  may calculate a TTC between the vehicle  200  and the preceding vehicle  210  and perform deceleration control when the calculated TTC is smaller than a threshold value. Here, the threshold value may be a braking time for avoiding collision. 
     The threshold value which may correspond to the braking time for avoiding collision may be calculated, for example, by the vehicle collision avoidance control apparatus  100  on the basis of one or more of the distance between the vehicle  200  and the preceding vehicle  210 , the relative velocity between the vehicle  200  and the preceding vehicle  210 , the braking performance of the vehicle  200 , and the like. 
     Meanwhile, the hazard-light blinking recognition module  320  may recognize blinking of the hazard lights  211  of the preceding vehicle  210  by analyzing a front video acquired by the camera  110  or the image sensor when a region having a certain level of luminance (brightness) or higher exists in the front video, a region whose luminance is changed at certain intervals exists in the front video, or a region whose luminance is changed a certain number of times or more exists in the front video. 
     The hazard-light blinking recognition module  320  may exist out of the camera  110  or the image sensor or exist as an internal module of the camera  110  or the image sensor. 
     As described above, the vehicle  200  and the preceding vehicle  210  may be on a highway. 
     The vehicle collision avoidance control apparatus  100  installed in the vehicle  200  traveling at high velocity on a highway may recognize a congested highway area in front of the vehicle  200  through blinking of the hazard lights  211  of the preceding vehicle  210 . 
     Meanwhile, the vehicle collision avoidance control apparatus  100  installed in the vehicle  200  may indirectly detect that the vehicle  200  is on a highway through the velocity of the vehicle  200  and start collision avoidance control accordingly on the basis of blinking of hazard lights. 
     For example, the vehicle collision avoidance control apparatus  100  may indirectly detect that the vehicle  200  is on a highway by determining whether the velocity of the vehicle  200  is the control-involved velocity or higher. Here, the control-involved velocity may be a vehicle velocity value set for highways. 
     Also, the vehicle collision avoidance control apparatus  100  installed in the vehicle  200  may receive highway entry information, directly detect that the vehicle  200  is on a highway, and start collision avoidance control. 
     The vehicle collision avoidance control apparatus  100  may receive highway entry information from a highway pass terminal, a navigation terminal, a vehicle device, or the like installed in the vehicle  200 . 
     Meanwhile, the control starting module  310 , the hazard-light blinking recognition module  320 , and the control processing module  330  included in the vehicle collision avoidance control apparatus  100  may be included in one electronic control device. 
     The control starting module  310 , the hazard-light blinking recognition module  320 , and the control processing module  330  included in the vehicle collision avoidance control apparatus  100  may be integrated and function as one controller. The controller may include a processor for processing one or more of image data captured by a camera or an image sensor included in the sensing module and sensing data captured by a non-image sensor. 
     Also, the controller may recognize blinking of hazard lights of a preceding vehicle on the basis of a sensing signal of the sensing module and then perform vehicle collision avoidance control. The vehicle collision avoidance control may be one or more of warning to the driver of the corresponding vehicle  200 , velocity control (deceleration) of the corresponding vehicle  200 , and rear warning to a following vehicle. 
     The controller may be implemented as a DCU or a domain controller which integrally has a function of receiving and processing information of several vehicle sensors or relaying sensor signals, a function of controlling movement of a vehicle according to an embodiment of the present disclosure by generating and transmitting a vehicle collision avoidance control signal to a vehicle brake control module or a steering control module, and the like. 
     The DCU may recognize blinking of hazard lights of a preceding vehicle at least partially on the basis of a function of processing one or more of image data captured by the image sensor and sensing data captured by the non-image sensor and processing of the image data captured by the image sensor and may perform one or more of warning to the driver of the corresponding vehicle  200 , velocity control (deceleration) of the corresponding vehicle  200 , and rear warning to a following vehicle. 
     Unlike this, the control starting module  310 , the hazard-light blinking recognition module  320 , and the control processing module  330  included in the vehicle collision avoidance control apparatus  100  may be implemented in two or more electronic devices in a distributed manner. 
     For example, the hazard-light blinking recognition module  320  may be included in the camera  110  or an electronic device connected to the camera  110 , and the control starting module  310  and the control processing module  330  may be included in an electronic control device connected to the hazard-light blinking recognition module  320 . 
     The aforementioned electronic control device may be an ECU. 
     Meanwhile, the above-described vehicle collision avoidance control apparatus  100  or the (domain) controller according to an embodiment of the present disclosure and the control starting module  310 , the hazard-light blinking recognition module  320 , the control processing module  330 , and the like which are components thereof may be implemented as some modules constituting the system  10  for vehicle collision avoidance control according to an embodiment of the present disclosure or some modules of an ECU for the system  10 . 
     Modules or the ECU constituting the system  10  for vehicle collision avoidance control may include a processor, a storage device such as a memory, a computer program for performing a specific function, and the like, and the control starting module  310 , the hazard-light blinking recognition module  320 , the control processing module  330 , etc. described above may be implemented as software modules for performing respective unique functions thereof. 
     Since such software can be easily coded by those of ordinary skill in the art on the basis of descriptions of this specification, the description of a detailed form of software will be omitted. 
       FIG. 5  is a flowchart illustrating a method for vehicle collision avoidance control according to an embodiment of the present disclosure. 
     Referring to  FIG. 5 , a method for vehicle collision avoidance control by the vehicle collision avoidance control apparatus  100  according to an embodiment of the present disclosure may include an operation of determining whether to start vehicle collision avoidance control (S 510 ), an operation of recognizing blinking of the hazard lights  211  of the preceding vehicle  210  (S 520 ), an operation of performing vehicle collision avoidance control (S 530 ), and the like. 
     In operation S 510 , the vehicle collision avoidance control apparatus  100  may determine whether a velocity of the vehicle  200  is a control-involved velocity or higher. 
     In operation S 520 , when the velocity of the vehicle  200  is determined to be the control-involved velocity or higher, the vehicle collision avoidance control apparatus  100  may recognize blinking of the hazard lights  211  of the preceding vehicle  210  in front of the vehicle  200 . 
     In operation S 530 , when blinking of the hazard lights  211  of the preceding vehicle  210  is recognized, the vehicle collision avoidance control apparatus  100  may perform vehicle collision avoidance control including one or more of driver warning and deceleration control. 
     At the point in time when blinking of the hazard lights  211  of the preceding vehicle  210  is recognized, the preceding vehicle  210  may be traveling at a certain velocity or lower or have stopped in a lane in which the vehicle  200  is traveling or an adjacent lane of the lane. 
       FIG. 6  is a detailed flowchart illustrating a method for vehicle collision avoidance control according to an embodiment of the present disclosure. 
       FIG. 6  is a flowchart illustrating operation S 530  in detail. 
     Operation S 530  may include an operation of issuing a driver warning when blinking of the hazard lights  211  of the preceding vehicle  210  is recognized (S 610 ), an operation of determining whether the vehicle  200  is currently in danger of collision with the preceding vehicle  210  (S 630 ), an operation of controlling deceleration when the vehicle  200  is determined to be currently in danger of collision with the preceding vehicle  210  (S 640 ), and the like. 
     Meanwhile, after operation S 610 , the vehicle collision avoidance control apparatus  100  may perform an operation of determining whether blinking of the hazard lights  211  of the preceding vehicle  210  recognized in operation S 610  is continuously maintained, and when it is determined in operation S 620  that blinking of the hazard lights  211  of the preceding vehicle  210  is continuously maintained, operation S 630  may be performed. 
     On the other hand, when it is determined in operation S 620  that blinking of the hazard lights  211  of the preceding vehicle  210  is not continuously maintained, that is, when blinking of the hazard lights  211  of the preceding vehicle  210  is stopped, the vehicle collision avoidance control apparatus  100  may maintain the preceding vehicle  210  as a control target (S 625 ) and perform deceleration control of the vehicle  200  with respect to the preceding vehicle  210  which is the control target. 
     Meanwhile, in operation S 630 , the vehicle collision avoidance control apparatus  100  may determine whether a braking amount is less than a threshold value and determine that the vehicle  200  is currently in danger of collision with the preceding vehicle  210  when the braking amount is less than the threshold value (e.g., a brake threshold value for avoiding vehicle collision). 
     Here, a braking amount less than the threshold value may denote that the vehicle  200  may collide with the preceding vehicle  210  due to a lack of the braking amount. 
     When it is determined in operation S 630  that the braking amount is less than the threshold value, operation S 640  may be performed, and when it is determined in operation S 630  that the braking amount is the threshold value or more, operation S 620  may be performed again. 
     Here, a braking amount greater than or equal to the threshold value may denote that the vehicle  200  is unlikely to collide with the preceding vehicle  210  due to the sufficient braking amount of the vehicle  200  even when blinking of the hazard lights  211  of the preceding vehicle  210  is recognized. 
     In operation S 530 , the vehicle collision avoidance control apparatus  100  may issue a rear warning for notifying the front situation of the vehicle  200  to a following vehicle of the vehicle  200 . 
     For example, in operation S 610 , the vehicle collision avoidance control apparatus  100  may issue not only a driver warning but also a rear warning of blinking the hazard lights  201  of the corresponding vehicle  200 . 
     Also, in operation S 610  and/or S 640 , the vehicle collision avoidance control apparatus  100  may sound an alarm of the vehicle  200  to notify the current situation (blinking of the hazard lights of the preceding vehicle, a congested area in front of the vehicle  200 , the probability of vehicle collision, or the like) to a driver of the following vehicle behind the vehicle  200 . 
     Meanwhile, even when vehicle collision avoidance control is started on the basis of blinking of hazard lights because it is determined in operation S 510  that the velocity of the vehicle  200  is the control-involved velocity or higher, blinking of the hazard lights  211  of the preceding vehicle  210  may not be recognized in operation S 520 . In this case, a TTC with the preceding vehicle  210  is calculated (S 650 ), and it is determined whether the calculated TTC is smaller than a threshold value (e.g., a threshold value of braking time) (S 660 ). When the calculated TTC is smaller than the threshold value, deceleration may be controlled (S 640 ). 
     According to an embodiment of the present disclosure, it is possible to use a domain controller which functions as a DCU of a vehicle. 
     In other words, a system for vehicle collision avoidance control according to an embodiment of the present disclosure may include a sensing module including one or more of an image sensor which is disposed in a vehicle, has a field of view out of the vehicle, and captures image data and a non-image sensor which is disposed in the vehicle and captures sensing data to sense one of objects nearby the vehicle, a vehicle movement control module which controls one or more of a velocity, a braking force, and a steering angle of the vehicle, a warning module which outputs a warning signal to a driver, and a domain controller which processes one or more of the image data captured by the image sensor and the sensing data captured by the non-image sensor and controls the warning module or the vehicle movement control module. 
     Here, the domain controller may recognize blinking of hazard lights of a preceding vehicle of the vehicle at least partially based on processing of the image data captured by the image sensor and perform one or more of driver warning through the warning module and deceleration control through the vehicle movement control module. 
     The vehicle movement control module is a device for controlling movement of the vehicle by controlling one or more of the engine, the brake system, and the steering system of the vehicle. The vehicle movement control module may include a lane keeping assist (LKA) module, a lane changing assist (LCA) module, an ACC module, a collision avoidance control module, an autonomous emergency braking (AEB) module, etc. constituting a driver assistance system (DAS), but is not limited thereto. 
     Meanwhile, it is possible to use an AEB module or an ACC module for deceleration control according to an embodiment of the present disclosure. In general, an AEB module operates at a high deceleration rate (braking amount) of about 1 G or less, and an ACC module operates at a low deceleration rate (a braking amount) of about 0.35 G or less. 
     Therefore, for deceleration control in response to blinking of hazard lights of a preceding vehicle according to an embodiment of the present disclosure, one of the AEB module and the ACC module may be controlled according to a required deceleration rate. 
     Alternatively, deceleration control may be performed using one of the AEB module and the ACC module having a higher maximum deceleration rate. 
     According to the above-described embodiments, an apparatus, system, and method for vehicle collision avoidance control can avoid vehicle collision by rapidly recognizing that an area in front of a vehicle which is traveling at high velocity is likely to be congested. 
     According to the embodiments of the present disclosure, an apparatus, system, and method for vehicle collision avoidance control can perform immediate and rapid control for avoiding vehicle collision not only when movement of a preceding vehicle is changed but also when the preceding vehicle is likely to suddenly change its movement despite no change or a subtle change in the movement. 
     According to the embodiments of the present disclosure, an apparatus, system, and method for vehicle collision avoidance control enable immediate and rapid control for avoiding vehicle collision when an area is suddently congested while a vehicle is traveling at high velocity. 
     According to the embodiments of the present disclosure, an apparatus, system, and method for vehicle collision avoidance control can recognize information (e.g., blinking of hazard lights of a preceding vehicle) which accurately indicates a probability that movement of the preceding vehicle will be suddenly changed despite no change or a subtle change in the movement and can use the information for vehicle collision avoidance control. The above embodiments of the present disclosure have been described only for illustrative purposes, and those of ordinary skill in the art will appreciate that various modifications and changes may be made thereto without departing from the essential features of the disclosure. Therefore, the embodiments of the present disclosure are not intended to limit, but are intended to illustrate the technical idea of the present disclosure, and the scope of the technical idea of the present disclosure is not limited by the embodiments. 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.