Driver assistance system and control method thereof

A method of controlling a driver assistance system of a subject vehicle, the method comprising:

• acquiring image data of an outside of the subject vehicle, wherein the image data includes a mark on a road indicating a travel lane along which the subject vehicle travels;
• acquiring radar data regarding the outside of the subject vehicle;
• processing the image data and the radar data;
• determining the travel lane of the subject vehicle on the basis of the image data;
• determining an area of a portion of a nearby vehicle as a cut-in area of the nearby vehicle on the basis of the acquired image data;
• determining a target vehicle on the basis of the determined cut-in area;
• controlling at least one of a braking device or a steering device of the subject vehicle to avoid a collision with the target vehicle;
• acquiring lane information regarding the travel lane of the subject vehicle and sensing information regarding the nearby vehicle on the basis of the image data, wherein the sensing information includes at least one of vertex coordinates, longitudinal minimum coordinates, lateral minimum coordinates, longitudinal maximum coordinates, lateral maximum coordinates, a width, a length, or a heading angle, of the nearby vehicle;
• and
• determining whether the nearby vehicle is predicted to cut in the travel lane based on the lane information and the sensing information,
• wherein the determining of the area of the portion of the nearby vehicle as the cut-in area of the nearby vehicle is performed when it is determined that the nearby vehicle is predicted to cut in the travel lane, and
• the portion of the nearby vehicle is a portion, from the mark into the travel lane of the subject vehicle, occupied by the nearby vehicle in the travel lane of the subject vehicle.

A driver assistance system comprising:

• an image acquisition device disposed on a subject vehicle and configured to acquire external image data indicating a field of view of outside the subject vehicle, wherein the image data includes a mark on a road indicating a travel lane along which the subject vehicle travels;
• and
• a processor configured to:
• determine the travel lane of the subject vehicle on the basis of the image data;
• determine an area of a portion of a nearby vehicle as a cut-in area of the nearby vehicle by processing at least the image data;
• output a control signal to control at least one of a braking device or a steering device of the subject vehicle to avoid a collision with the nearby vehicle, in response to a determination that the cut-in area of the nearby vehicle is greater than a predetermined reference value;
• acquire lane information regarding the travel lane of the subject vehicle and sensing information regarding the nearby vehicle on the basis of the image data, wherein the sensing information includes at least one of vertex coordinates, longitudinal minimum coordinates, lateral minimum coordinates, longitudinal maximum coordinates, lateral maximum coordinates, a width, a length, or a heading angle, of the nearby vehicle;
• determine whether the nearby vehicle is predicted to cut in the travel lane based on the lane information and the sensing information;
• and
• when it is determined that the nearby vehicle is predicted to cut in the travel lane, determine the area of the portion of the nearby vehicle as the cut-in area of the nearby vehicle,
• wherein the portion of the nearby vehicle is a portion, from the mark into the travel lane of the subject vehicle, occupied by the nearby vehicle in the travel lane of the subject vehicle.

A method comprising:

• receiving image data indicating a field of view of outside of a subject vehicle, wherein the image data includes a mark on a road indicating a travel lane along which the subject vehicle travels;
• determining the travel lane of the subject vehicle on the basis of the image data;
• determining an area of a portion of a nearby vehicle as a cut-in area of the nearby vehicle by processing at least the image data;
• outputting a control signal to control at least one of a braking device or a steering device of the subject vehicle to avoid a collision with the nearby vehicle, in response to a determination that the cut-in area of the nearby vehicle is greater than a predetermined reference value;
• acquiring lane information regarding the travel lane of the subject vehicle and sensing information regarding the nearby vehicle on the basis of the image data, wherein the sensing information includes at least one of vertex coordinates, longitudinal minimum coordinates, lateral minimum coordinates, longitudinal maximum coordinates, lateral maximum coordinates, a width, a length, or a heading angle, of the nearby vehicle;
• and
• determining whether the nearby vehicle is predicted to cut in the travel lane based on the lane information and the sensing information,
• wherein the determining of the area of the portion of the nearby vehicle as the cut-in area of the nearby vehicle is performed when it is determined that the nearby vehicle is predicted to cut in the travel lane, and
• the portion of the nearby vehicle is a portion, from the mark into the travel lane of the subject vehicle, occupied by the nearby vehicle in the travel lane of the subject vehicle.