# US 11,299,147 B2 · Driver assistance system and control method thereof

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- Number: US 11,299,147 B2
- Document ID: US11299147B2
- Status: Granted
- Kind: B2
- Application number: 16/715,671
- Filed: 2019-12-16
- Published: 2020-07-30
- Granted: 2022-04-12
- Earliest claimed: 2019-01-30
- Assignees: Mando Mobility Solutions Corporation
- Applicants: Mando Corporation
- Inventors: Boryeon Kang
- Web page: https://patentgrep.com/patent/US11299147B2

## CPC

- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- G01S 13/867: {Combination of radar systems with cameras}
- B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
- B60W 10/18: including control of braking systems
- B60W 10/184: with wheel brakes
- B60W 10/20: including control of steering systems
- B60W 60/0015: {specially adapted for safety}
- B62D 15/0265: {Automatic obstacle avoidance by steering}
- G01S 13/58: Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S 13/931: of land vehicles
- G01S 17/89: for mapping or imaging
- G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)}
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2552/00: Input parameters relating to infrastructure
- B60W 2554/402: Type
- B60W 2554/4041: Position
- B60W 2554/4042: Longitudinal speed
- B60W 2554/806: Relative heading
- G01S 2013/9318: {Controlling the steering}
- G01S 2013/93185: {Controlling the brakes}
- G01S 2013/93271: {in the front of the vehicles}
- G01S 2013/93272: {in the back of the vehicles}
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

Disclosed are a driver assistance system for a vehicle, the driver assistance system comprising: a camera disposed on the vehicle to have a field of view of an outside of the vehicle, and configured to acquire external image data; a radar disposed on the vehicle to have a field of sensing of an outside of the vehicle, and configured to acquire radar data; and a controller including a processor configured to process the image data and the radar data, determine a cut-in area of a nearby vehicle on the basis of the image data acquired by the camera, determine a target vehicle on the basis of the determined cut-in area, and control at least one of a braking device or a steering device of the vehicle to avoid a collision with the target vehicle.

## Claims

### Claim 1

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 of the subject vehicle, wherein the image data includes a mark on a road indicating a travel lane along which the subject vehicle travels;
a radar disposed on the subject vehicle and configured to acquire radar data indicating a field of sensing of the outside of the subject vehicle; and
a controller including a processor, configured to:
process the image data and the radar data;
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 on the basis of the image data acquired by the image acquisition device;
determine a target vehicle on the basis of the determined cut-in area;
control at least one of a braking device or a steering device of the subject vehicle to avoid a collision with the target vehicle;
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, and
determine whether the nearby vehicle is predicted to cut in the travel lane based on the lane information and the sensing information,
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.

### Claim 2 (depends on 1)

The driver assistance system of claim 1, wherein
the lane information includes at least one of coordinates, a trajectory, a width, an angle, or an interval, of the travel lane.

### Claim 3 (depends on 2)

The driver assistance system of claim 2, wherein the controller acquires coordinates of a contact point of the travel lane and the nearby vehicle on the basis of the image data,
wherein the sensing information further includes the acquired coordinates of the contact point.

### Claim 4 (depends on 3)

The driver assistance system of claim 3, wherein the controller determines the cut-in area of the nearby vehicle on the basis of the lane information, the coordinates of the contact point, and the vertex coordinates of the nearby vehicle.

### Claim 5 (depends on 1)

The driver assistance system of claim 1, wherein the controller determines the nearby vehicle on the basis of the image data,
wherein the nearby vehicle is one vehicle existing in a lane of at least one of a left side or a right side of the travel lane of the subject vehicle.

### Claim 6 (depends on 1)

The driver assistance system of claim 1, wherein the controller determines whether the nearby vehicle is predicted to cut in the travel lane on the basis of the image data, and
when the controller determines that the nearby vehicle is to cut in the travel lane, the controller determines the cut-in area of the nearby vehicle.

### Claim 7 (depends on 6)

The driver assistance system of claim 6, wherein the controller determines a lateral acceleration of the nearby vehicle on the basis of the image data, and when the determined lateral acceleration satisfies a predetermined condition, the controller determines that the nearby vehicle is predicted to cut in the travel lane.

### Claim 8 (depends on 1)

The driver assistance system of claim 1, wherein the controller determines that the nearby vehicle having the determined cut-in area greater than or equal to a predetermined reference value is the target vehicle.

### Claim 9 (depends on 1)

The driver assistance system of claim 1, wherein the controller determines a velocity of the target vehicle on the basis of at least one of the radar data or the image data, determines a target acceleration on the basis of the velocity of the target vehicle, and outputs a braking signal for a longitudinal avoidance to the braking device on the basis of the target acceleration.

### Claim 10 (depends on 9)

The driver assistance system of claim 9, wherein the controller outputs a steering signal for a lateral avoidance to the steering device.

### Claim 11 (depends on 1)

The subject vehicle comprising the driver assistance system of claim 1.

### Claim 12

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.

### Claim 13 (depends on 12)

The method of claim 12,
wherein the lane information includes at least one of coordinates, a trajectory, a width, an angle or an interval, of the travel lane.

### Claim 14 (depends on 13)

The method of claim 13, wherein the acquiring of the sensing information regarding the nearby vehicle includes:
acquiring coordinates of a contact point of the travel lane and the nearby vehicle on the basis of the image data,
wherein the sensing information further includes the acquired coordinates of the contact point.

### Claim 15 (depends on 14)

The method of claim 14, wherein the determining of the cut-in area of the nearby vehicle includes determining the cut-in area of the nearby vehicle on the basis of the lane information, the coordinates of the contact point, and the vertex coordinates of the nearby vehicle.

### Claim 16 (depends on 12)

The method of claim 12, further comprising determining the nearby vehicle on the basis of the image data,
wherein the nearby vehicle is one vehicle existing in a lane of at least one of a left side or a right side of the travel lane of the subject vehicle.

### Claim 17 (depends on 12)

The method of claim 12, wherein the determining of the cut-in area of the nearby vehicle includes:
determining whether the nearby vehicle is predicted to cut in the travel lane on the basis of the image data; and
when it is determined that the nearby vehicle is predicted to cut in the travel lane, determining the cut-in area of the nearby vehicle.

### Claim 18 (depends on 17)

The method of claim 17, wherein the determining of whether the nearby vehicle is predicted to cut in the travel lane includes:
determining a lateral acceleration of the nearby vehicle on the basis of the image data; and
when the lateral acceleration of the nearby satisfies a predetermined condition, determining that the nearby vehicle is predicted to cut in the travel lane.

### Claim 19 (depends on 12)

The method of claim 12, wherein the determining of the target vehicle includes determining that the nearby vehicle having the determined cut-in area greater than or equal to a predetermined reference value is the target vehicle.

### Claim 20 (depends on 12)

The method of claim 12, wherein the controlling of the at least one of the braking device or the steering device of the subject vehicle includes:
determining a velocity of the target vehicle on the basis of at least one of the radar data or the image data;
determining a target acceleration on the basis of the velocity of the target vehicle; and
outputting a braking signal for a longitudinal avoidance to the braking device on the basis of the target acceleration.

### Claim 21 (depends on 20)

The method of claim 20, wherein the controlling of the at least one of the braking device or the steering device of the subject vehicle includes outputting a steering signal for a lateral avoidance to the steering device.

### Claim 22

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.

### Claim 23 (depends on 22)

The driver assistance system of claim 22, wherein
the lane information includes at least one of coordinates, a trajectory, a width, an angle, or an interval, of the travel lane.

### Claim 24 (depends on 23)

The driver assistance system of claim 23, wherein the processor is further configured to determine coordinates of a contact point of the travel lane and the nearby vehicle on the basis of the image data,
wherein the sensing information further includes the determined coordinates of the contact point.

### Claim 25 (depends on 24)

The driver assistance system of claim 24, wherein the processor is further configured to determine the cut-in area of the nearby vehicle on the basis of the lane information, the coordinates of the contact point, and the vertex coordinates of the nearby vehicle.

### Claim 26 (depends on 22)

The driver assistance system of claim 22, further comprising:
a radar disposed on the subject vehicle and configured to acquire radar data outside of the subject vehicle,
wherein the processor is further configured to determine a velocity of the nearby vehicle on the basis of at least one of the radar data or the image data, determine a target acceleration on the basis of the velocity of the target vehicle, and output a braking signal for a longitudinal avoidance to the braking device on the basis of the target acceleration.

### Claim 27 (depends on 22)

The driver assistance system of claim 22, wherein the processor is configured to output a steering signal for a lateral avoidance to the steering device, in response to a determination that the longitudinal avoidance occurs if controlling only the braking device.

### Claim 28 (depends on 22)

The driver assistance system of claim 22, wherein the processor is further configured to:
determine a lateral acceleration of the nearby vehicle on the basis of the image data, and
in response to a determination that the determined lateral acceleration satisfies a predetermined condition, determine that the nearby vehicle is to cut in the travel lane.

### Claim 29

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.

### Claim 30 (depends on 29)

A non-transitory computer-readable medium storing computer-executable instructions, when executed by a processor, causing the processor to perform the method of claim 29.