Assistant system and assistant method for backward driving of vehicle

An assistant system for a backward driving of a vehicle, the assistant system comprising:

• an input unit of at least one processor configured to receive a backward driving assistant command;
• a position tracking unit of at least one processor configured to track real-time positions of the vehicle;
• an obstacle sensing unit of at least one processor configured to sense an obstacle existing at front, rear, left and right sides of the vehicle and generate an obstacle sensing signal;
• a steering device manipulation unit of at least one processor configured to adjust a steering angle of a steering device of the vehicle;
• a primary backward path generation unit of at least one processor configured to generate a primary backward path based on the real-time positions of the vehicle on map information that is previously stored;
• a secondary backward path generation unit of at least one processor configured to generate a secondary backward path for the vehicle to drive backward while avoiding the obstacle behind the vehicle within the primary backward path based on the obstacle sensing signal;
• and
• a control unit of at least one processor configured to match the real-time positions of the vehicle to the secondary backward path, and at the time of a backward driving, to control the steering device manipulation unit according to the secondary backward path which matched the real-time positions of the vehicle,
• wherein:
• when a wheel mark left on a road by a different vehicle passing the road is present, the obstacle sensing unit further generates a wheel mark sensing signal by sensing the wheel mark, and the secondary backward path generation unit generates the secondary backward path based on the obstacle sensing signal and the wheel mark sensing signal;
• and
• the wheel mark includes a recess having a predetermined width on an unpaved road surface or a bare area having a predetermined width on a grass-covered road surface.