US 11,951,996 B2
Driver assistance system and vehicle including the same
Deokju Kim, Seongnam-si (KR)
Assigned to HL KLEMOVE CORP., Incheon (KR)
Filed by MANDO MOBILITY SOLUTIONS CORPORATION, Pyeongtaek-si (KR)
Filed on Feb. 11, 2022, as Appl. No. 17/669,637.
Claims priority of application No. 10-2021-0022647 (KR), filed on Feb. 19, 2021.
Prior Publication US 2022/0266840 A1, Aug. 25, 2022
Int. Cl. B60W 40/00 (2006.01); B60T 7/12 (2006.01); B60T 8/1755 (2006.01); B60W 10/18 (2012.01); B60W 40/105 (2012.01); B60W 40/114 (2012.01); B60W 50/02 (2012.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 40/114 (2013.01) [B60T 7/122 (2013.01); B60T 8/17558 (2013.01); B60W 10/18 (2013.01); B60W 40/105 (2013.01); B60W 50/0205 (2013.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60T 2201/022 (2013.01); B60T 2250/03 (2013.01); B60T 2250/04 (2013.01); B60W 2520/06 (2013.01); B60W 2520/14 (2013.01); B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A driver assistance system, comprising:
an image acquisition part configured to acquire image information about an obstacle;
an obstacle detector configured to detect distance information about a distance to the obstacle;
a controller configured to acquire relative speed information of the obstacle based on the detected distance information and speed information about a driving speed detected by a speed detector, and control braking based on the acquired relative speed information,
wherein, when controlling the braking, the controller is configured to recognize a rotation direction of the vehicle body based on a yaw rate of the vehicle body detected by a yaw rate detector, recognize a position change of the obstacle in in an image based on the acquired image information, recognize whether a moving direction of the vehicle body is a backward direction based on the recognized rotation direction of the vehicle body and the recognized position change of the obstacle, and when it is determined that the moving direction of the vehicle body is the backward direction, restrict the braking,
wherein the controller is configured to recognize a rotation direction of the obstacle corresponding to the recognized position change of the obstacle and when the rotation direction of the obstacle is the same as the recognized rotation direction of the vehicle body, recognize that the moving direction of the vehicle body is the backward direction.