# US 12,594,946 B2 · Driver assistance apparatus and driver assistance method

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- Number: US 12,594,946 B2
- Document ID: US12594946B2
- Status: Granted
- Kind: B2
- Application number: 18/241,227
- Filed: 2023-08-31
- Published: 2024-06-06
- Granted: 2026-04-07
- Earliest claimed: 2022-12-02
- Assignees: Hl Klemove Corp.
- Applicants: Hl Klemove Corp.
- Inventors: Hyunbeom Kim
- Web page: https://patentgrep.com/patent/US12594946B2

## CPC

- B60W 50/087: {where the control system corrects or modifies a request from the driver}
- B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences}
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/095: Predicting travel path or likelihood of collision
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- B60W 2050/143: {Alarm means}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2520/06: Direction of travel
- B60W 2520/10: Longitudinal speed
- B60W 2520/14: Yaw
- B60W 2540/10: Accelerator pedal position
- B60W 2540/12: Brake pedal position
- B60W 2540/18: Steering angle
- B60W 2554/4042: Longitudinal speed
- B60W 2554/4043: Lateral speed
- 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
- 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 herein is a driver assistance apparatus including a camera having a field of view around a vehicle and configured to acquire image data with, a radar installed in the vehicle and having a sensing area around the vehicle to acquire radar data, and a controller configured to process the image data and the radar data, wherein the controller determines whether a collision with a nearby object of the vehicle is predicted in response to processing the image data and the radar data when a traveling mode of the vehicle is an autonomous traveling mode, outputs a warning about risk of the collision when the collision with the object is predicted, and controls at least one of a steering, an acceleration, or a deceleration according to a detected driver's manipulation when detecting the driver's manipulation for at least one of the steering, the acceleration, or the deceleration after outputting the warning.

## Claims

### Claim 1

A driver assistance apparatus comprising:
a processor configured to process image data acquired from a camera having a field of view around a vehicle, and radar data acquired from a radar having a sensing area around the vehicle, and
a memory configured to store programs for processing the image data and the radar data, wherein the processor is configured to:
determine whether a collision with an object around the vehicle is predicted in response to processing the image data and the radar data when a traveling mode of the vehicle is an autonomous traveling mode;
output a first warning about risk of the collision when the collision with the object within a predetermined first time is predicted;
when a driver's intervention in the autonomous traveling is not detected after outputting the first warning, determine whether the collision with the object within a second time shorter than the first time is predicted;
when the collision with the object within the second time is predicted, output a second warning about the risk of the collision to the driver; and
control at least one of a steering, an acceleration, or a deceleration according to a detected driver's manipulation and cancel the autonomous traveling when detecting the driver's manipulation for at least one of the steering, the acceleration, or the deceleration after outputting the second warning.

### Claim 2 (depends on 1)

The driver assistance apparatus of claim 1, wherein, when not detecting the driver's intervention in the autonomous traveling after outputting the second warning, the processor controls at least one of the steering, the acceleration, or the deceleration in order to avoid the collision with the object.

### Claim 3 (depends on 1)

The driver assistance apparatus of claim 1, wherein the processor identifies the object around the vehicle in response to the processing of the image data.

### Claim 4 (depends on 1)

The driver assistance apparatus of claim 1, wherein the processor predicts a dynamic of the object including a longitudinal speed or a transverse speed of the object in response to the processing of the radar data.

### Claim 5 (depends on 1)

The driver assistance apparatus of claim 1, wherein the processor predicts a traveling path of the vehicle based on traveling information on the vehicle including at least one of a speed, a yaw rate, or a steering angle of the vehicle.

### Claim 6 (depends on 5)

The driver assistance apparatus of claim 5, wherein the processor determines whether the object enters the traveling path of the vehicle and the collision with the object is predicted.

### Claim 7

A driver assistance method comprising:
acquiring image data through a camera having a field of view around a vehicle;
acquiring radar data through a radar having a sensing area around the vehicle;
processing the image data and the radar data;
determining whether a collision with an object around the vehicle is predicted in response to the processing of the image data and the radar data when a traveling mode of the vehicle is an autonomous traveling mode;
outputting a first warning about risk of the collision when the collision with the object within a predetermined first time is predicted;
when a driver's intervention in the autonomous traveling is not detected after outputting the first warning, determining whether the collision with the object within a second time shorter than the first time is predicted;
when the collision with the object within the second time is predicted, outputting a second warning about the risk of the collision to the driver; and
controlling at least one of a steering, an acceleration, or a deceleration according to a detected driver's manipulation and canceling the autonomous traveling when detecting the driver's manipulation for at least one of the steering, the acceleration, or the deceleration after outputting the second warning.

### Claim 8 (depends on 7)

The driver assistance method of claim 7, further comprising controlling at least one of the steering, the acceleration, or the deceleration in order to avoid the collision with the object when not detecting the driver's intervention in the autonomous traveling after outputting the second warning.

### Claim 9 (depends on 7)

The driver assistance method of claim 7, wherein the determining of whether the collision with the object is predicted includes identifying the object around the vehicle in response to the processing of the image data.

### Claim 10 (depends on 7)

The driver assistance method of claim 7, wherein the determining of whether the collision with the object is predicted includes predicting a dynamic of the object including a longitudinal speed or a transverse speed of the object in response to the processing of the radar data.

### Claim 11 (depends on 7)

The driver assistance method of claim 7, wherein the determining of whether the collision with the object is predicted includes predicting a traveling path of the vehicle based on traveling information on the vehicle including at least one of a speed, a yaw rate, or a steering angle of the vehicle.

### Claim 12 (depends on 11)

The driver assistance method of claim 11, wherein the determining of whether the collision with the object is predicted includes determining whether the object enters the traveling path of the vehicle and the collision with the object is predicted.