System for controlling host vehicle and method for controlling host vehicle
Disclosed are a system for controlling a host vehicle including one or more image sensors and one or more radar sensors and controller configured to recognize a target vehicle and measure a front coordinate of the target vehicle and generate a warning according to whether the front coordinate of the target vehicle is located in a preset blind spot alert area of the host vehicle. The present disclosure may determine whether to activate an warning based on a front coordinate of a target vehicle and prevent a malfunction when activating the warning, thereby providing a driver with driving safety and driving convenience.
1. A system for controlling a host vehicle, the system comprising:
one or more image sensors mounted to a host vehicle to have a field of view of an exterior of the host vehicle;
one or more radar sensors mounted to the host vehicle to have a sensing area of an exterior of the host vehicle; and
a controller communicatively connected to the one or more image sensors and the one or more radar sensors, and configured to:
recognize a target vehicle detected by at least one of the one or more image sensors or the one or more radar sensors,
estimate a first longitudinal length of the target vehicle which approaches the host vehicle in a front area of the host vehicle,
measure a reference coordinate and a second longitudinal length of the target vehicle which goes away from the host vehicle in a rear-side area of the host vehicle,
measure a front coordinate of the target vehicle based on the reference coordinate, the first longitudinal length and the second longitudinal length, and
generate a warning according to whether the front coordinate of the target vehicle is located in a preset blind spot alert area of the host vehicle.
2. The system of claim 1 , wherein the controller is configured to:
store therein longitudinal lengths of vehicles corresponding to vehicle types;
identify a vehicle type of the target vehicle detected by the one or more image sensors; and
estimate the first longitudinal length of the target vehicle based on a longitudinal length of a vehicle corresponding to the identified vehicle type of the target vehicle.
3. The system of claim 1 , wherein the controller measures the second longitudinal length by the one or more radar sensors, and
the second longitudinal length is equal to or shorter than the first longitudinal length.
4. The system of claim 1 , wherein the controller measures a location coordinate of a detection point closest to the host vehicle from among the plurality of detection points with respect to one side surface of the target vehicle as the reference coordinates.
5. The system of claim 1 , wherein the controller measures the front coordinate of the target vehicle by reflecting a difference value between the first longitudinal length and the second longitudinal length in the reference coordinate.
6. The system of claim 1 , wherein the controller deactivates the warning when the front coordinate is located outside the blind spot alert area in a state in which the reference coordinate is located inside the blind spot alert area, and
activates the warning when the front coordinate is located inside the blind spot alert area.
7. A system for controlling a host vehicle, the system comprising:
one or more image sensors mounted to a host vehicle to have a field of view of an exterior of the host vehicle;
one or more radar sensors mounted to the host vehicle to have a sensing area of or an exterior of the host vehicle; and
a controller communicatively connected to the one or more image sensors and the one or more radar sensors, and configured to:
recognize a target vehicle detected by at least one of the one or more image sensors or the one or more radar sensors,
estimate a first longitudinal length of the target vehicle which approaches the host vehicle in a rear-side area of the host vehicle,
measure a reference coordinate and a second longitudinal length of the target vehicle which approaches the host vehicle in a rear-side area of the host vehicle,
measure a front coordinate of the target vehicle based on the reference coordinate, the first longitudinal length and the second longitudinal length, and
generate a warning according to whether the front coordinate of the target vehicle is located in a preset blind spot alert area of the host vehicle.
8. The system of claim 7 , wherein the controller is configured to:
store therein longitudinal lengths of vehicles corresponding to vehicle types;
identify a vehicle type of the target vehicle detected by the one or more image sensors, and
estimate the first longitudinal length of the target vehicle based on a longitudinal length of a vehicle corresponding to the identified vehicle type of the target vehicle.
9. The system of claim 7 , wherein the controller measures the second longitudinal length by the one or more radar sensors, and
the second longitudinal length is equal to or shorter than the first longitudinal length.
10. The system of claim 7 , wherein the controller measures a location coordinate of a detection point closest to the host vehicle from among the plurality of detection points with respect to one side surface of the target vehicle as the reference coordinates.
11. The system of claim 7 , wherein the controller measures the front coordinate of the target vehicle by reflecting a difference value between the first longitudinal length and the second longitudinal length in the reference coordinate.
12. The system of claim 7 , wherein the controller activates the warning when the front coordinate is located inside the blind spot alert area, and
deactivates the warning when the front coordinate is located outside the blind spot alert area in a state in which the reference coordinate is located inside the blind spot alert area.
13. A method for controlling a host vehicle, the method comprising:
capturing image data by one or more image sensors and processing the captured image data;
capturing sensing data by one or more radar sensors and processing the captured sensing data;
recognizing a target vehicle detected by at least one of the one or more image sensors or the one or more radar sensors;
estimating a first longitudinal length of the target vehicle which approaches the host vehicle in a front area of the host vehicle;
measuring a reference coordinate and a second longitudinal length of the target vehicle which goes away from the host vehicle in a rear-side area of the host vehicle;
measuring a front coordinate of the target vehicle based on the reference coordinate, the first longitudinal length and the second longitudinal length; and
generating a warning according to whether the front coordinate of the target vehicle is located in a preset blind spot alert area of the host vehicle.
14. A method for controlling a host vehicle, the method comprising:
capturing image data by one or more image sensors and processing the captured image data;
capturing sensing data by one or more radar sensors and processing the captured sensing data;
recognizing a target vehicle detected by at least one of the one or more image sensors or the one or more radar sensors;
estimating a first longitudinal length of the target vehicle which approaches the host vehicle in a rear-side area of the host vehicle;
measuring a reference coordinate and a longitudinal length of the target vehicle which approaches the host vehicle in a rear-side area of the host vehicle;
measuring a front coordinate of the target vehicle based on the reference coordinate, the first longitudinal length and the second longitudinal length;
generating a warning according to whether the front coordinate of the target vehicle is located in a preset blind spot alert area of the host vehicle.