Driving assistance apparatus and driving assistance method

1. A driving assistance apparatus comprising:

a first sensing unit configured to sense a width of a forward object, a distance to the forward object, a speed of the forward object, and a speed of an own vehicle;

a first determining unit configured to determine a risk of collision with the forward object based on the distance to the forward object, the speed of the forward object, and the speed of the own vehicle;

a second sensing unit configured to, when the first determining unit determines that there is a risk of collision, sense a first distance, which is a distance to a first corner of the forward object, and a second distance, which is a distance to a second corner of the forward object;

a calculating unit configured to calculate a distorted angle of the forward object based on the width of the forward object, the first distance, and the second distance;

a second determining unit configured to, when the calculated distorted angle is equal to or larger than a preset critical angle, further determine the risk of collision based on a smaller one of the sensed first and second distances, the speed of the forward object, and the speed of the own vehicle; and

a control unit configured to, when the second determining unit determines that there is the risk of collision, control at least one of the notification device, the braking device, and the steering device.

2. The driving assistance apparatus of claim 1 , wherein the first sensing unit senses the width of the forward object, the distance to the forward object, and the speed of the forward object using at least one of the radar and the camera, and the second sensing unit senses the first distance and the second distance using an ultrasonic sensor.

3. The driving assistance apparatus of claim 1 , wherein the first determining unit calculates a relative speed based on the speed of the forward object and the speed of the own vehicle and calculates a time to collision based on the distance to the forward object and the relative speed, and when the time to collision is equal to or smaller than a preset first critical time to collision, the first determining unit determines that there is the risk of collision with the forward object.

4. The driving assistance apparatus of claim 1 , wherein the second determining unit calculates a relative speed based on the speed of the forward object and the speed of the own vehicle and calculates a time to collision based on a smaller one of the first distance and the second distance, and when the time to collision is equal to or smaller than a preset second critical time to collision, the second determining unit determines that there is the risk of collision with the forward object.

5. The driving assistance apparatus of claim 1 , wherein a first critical time to collision, which is a standard for determining the risk of collision by the first determining unit, is longer than a second critical time to collision, which is a standard for determining the risk of collision by the second determining unit.

6. The driving assistance apparatus of claim 1 , wherein the calculating unit calculates the distorted angle θ based on the width of the forward object, the first distance D1, and the second distance D2, and using a trigonometric function.

7. The driving assistance apparatus of claim 6 , wherein the width of the forward object is a virtual width W 1 in which a distorted state is not considered, rather than a real width of the forward object in which the distorted state is considered, and the distorted angle θ is as follows:

θ=tan −1 (( D 1 −D 2 )/ W 1 ).

8. The driving assistance apparatus of claim 6 , wherein the width of the forward object is a real width W 2 of the forward object in which the distorted state is considered, and the distorted angle θ is as follows:

θ=sin −1 (( D 1 −D 2 )/ W 2 ).

9. The driving assistance apparatus of claim 1 , wherein the second determining unit further determines a direction corresponding to the smaller one of the first and second distances as a moving direction of the forward object, and

wherein the control unit controls at least one of the braking device and the steering device such that the vehicle moves in a direction opposite to the moving direction of the forward object.

10. The driving assistance apparatus of claim 1 , wherein the calculating unit further calculates an angular acceleration a for avoiding the collision with the forward object based on the distorted angle, and

wherein the control unit controls the braking device depending on a side force F F of front tires and a side force F R of rear tires which are calculated based on the angular acceleration, a preset inertia moment I z of the own vehicle, a distance L F from a center of gravity of the own vehicle to the front tires and a distance L R from the center of gravity to the rear tires.

11. The driving assistance apparatus of claim 1 , wherein the first sensing unit further senses whether a crossroad exists ahead, and, when it is sensed that the crossroad exists, the second determining unit determines whether the distorted angle is equal to or larger than the preset critical angle.

12. The driving assistance apparatus of claim 11 , wherein the first sensing unit senses that the crossroad exists when a number of sensed traffic lights or pedestrian crossings is equal to or larger than a preset critical number.

13. A driving assistance method comprising:

a first sensing step of sensing a width of a forward object, a distance to the forward object, a speed of the forward object, and a speed of an own vehicle;

a first determining step of determining a risk of collision with the forward object based on the distance to the forward object, the speed of the forward object, and the speed of the own vehicle;

a second sensing step of, when the first determining unit determines that there is a risk of collision, sensing a first distance, which is a distance to a first corner of the forward object, and a second distance, which is a distance to a second corner of the forward object;

a calculating step of calculating a distorted angle of the forward object based on the first distance and the second distance;

a second determining step of, when the calculated distorted angle is equal to or larger than a preset critical angle, further determining the risk of collision based on a smaller one of the sensed first and second distances, the speed of the forward object, and the speed of the own vehicle; and

a control step of, when the second determining unit determines that there is the risk of collision, controlling at least one of the notification device, the braking device, and the steering device.

14. The driving assistance method of claim 13 , wherein, in the first determining step, a relative speed is calculated based on the speed of the forward object and the speed of the own vehicle and a time to collision is calculated based on the distance to the forward object and the relative speed, and when the time to collision is equal to or smaller than a preset first critical time to collision, it is determined that there is the risk of collision with the forward object.

15. The driving assistance method of claim 13 , wherein, in the first determining step, a relative speed is calculated based on the speed of the forward object and the speed of the own vehicle and a time to collision is calculated based on a smaller one of the first distance and the second distance and the relative speed, and when the time to collision is equal to or smaller than a preset first critical time to collision, it is determined that there is the risk of collision with the forward object.