US 12,441,304 B2
Driver assistance system and vehicle including the same
Jaehwan Kim, Seoul (KR)
Assigned to HL Klemove Corp., Incheon (KR)
Filed by HL Klemove Corp., Incheon (KR)
Filed on Mar. 17, 2023, as Appl. No. 18/122,916.
Claims priority of application No. 10-2022-0034035 (KR), filed on Mar. 18, 2022.
Prior Publication US 2023/0294682 A1, Sep. 21, 2023
Int. Cl. B60W 30/09 (2012.01); B60Q 9/00 (2006.01); G06T 7/70 (2017.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 30/09 (2013.01) [B60Q 9/008 (2013.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2510/20 (2013.01); B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4044 (2020.02); B60W 2720/10 (2013.01); B60W 2720/24 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30256 (2013.01); G06T 2207/30261 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A driver assistance system comprising:
a camera;
an obstacle detector comprising at least one of a radar, a LiDAR sensor, or an ultrasonic sensor configured to detect an obstacle and output obstacle information about the detected obstacle; and
a processor configured to:
recognize an image of the obstacle based on image information acquired by the camera,
obtain a rate of change in size of the recognized image of the obstacle based on a distance from the obstacle or a traveling speed difference,
obtain relative bearing information of the obstacle based on the obstacle information detected by the obstacle detector,
determine whether the obstacle and a vehicle are present on a collision path based on the obtained rate of change in size of the image of the obstacle and the relative bearing information of the obstacle, and
output a collision risk warning upon determining that the vehicle and the obstacle are present on the collision path,
wherein the processor controls at least one of a traveling speed and a traveling direction upon determining that the vehicle and the obstacle are present on the collision path during an autonomous driving mode.