DRIVER ASSISTANCE SYSTEM, AND CONTROL METHOD THE SAME

1 . A driver assistance system (DAS) comprising:

a camera configured to be installed on the vehicle to have a field of view and obtain image data;

a radar configured to be installed on the vehicle to have a field of view outside and obtain radar data; and

a controller configured to include a processor to process the image data obtained by the camera and the radar data obtained by the radar data, wherein

the controller identifies an object based on at least one of the image data and the radar data, determines a risk for the object by determining collision possibility with the identified object, and determines driving position of the vehicle within a driving lane based on the risk for the object.

2 . The driver assistance system according to claim 1 , wherein

the controller determines the risk for the object by dividing with respect to left-side risk and right-side risk of the vehicle based on the location information of the object.

3 . The driver assistance system according to claim 2 , wherein

the controller determines the driving position of the vehicle to be deflected in the right lane or in the left lane within the driving lane based on the left-side risk and right-side risk of the vehicle.

4 . The driver assistance system according to claim 1 , wherein

the controller determines the risk for the object by determining time to collision with the object based on the location information of the object and behavior information of the vehicle.

5 . The driver assistance system according to claim 4 , wherein

the controller determines the risk for the object by applying weights according to the type of the object.

6 . The driver assistance system according to claim 1 , wherein

the controller controls steering system provided in the vehicle such that the vehicle moves to the determined driving position of the vehicle.

7 . The driver assistance system according to claim 1 , wherein

the controller generates a virtual lane for moving the vehicle to the determined driving position of the vehicle.

8 . The control method of the driver assistance system includes a camera configured to be installed on the vehicle to have a field of view and obtain image data, a radar configured to be installed on the vehicle to have a field of view outside and obtain radar data, and a controller configured to include a processor to process the image data obtained by the camera and the radar data obtained by the radar data, the method comprising:

obtaining the image data by the camera;

obtaining the radar data by the radar

identifying an object based on at least one of the image data and the radar data;

determining a risk for the object by determining collision possibility with the identified object; and

determining driving position of the vehicle within a driving lane based on the risk for the object.

9 . The method according to claim 8 , wherein

determining the risk for the object further comprises determining the risk for the object by dividing with respect to left-side risk and right-side risk of the vehicle based on the location information of the object.

10 . The method according to claim 9 , wherein

determining driving position of the vehicle further comprises determines the driving position of the vehicle to be deflected in the right lane or in the left lane within the driving lane based on the left-side risk and right-side risk of the vehicle.

11 . The method according to claim 8 , wherein

determining the risk for the object comprises determining the risk for the object by determining time to collision with the object based on the location information of the object and behavior information of the vehicle.

12 . The method according to claim 8 , wherein

determining the risk for the object further comprises determining the risk for the object by applying weights according to the type of the object.

13 . The method according to claim 8 further comprising:

controlling steering system provided in the vehicle such that the vehicle moves to the determined driving position of the vehicle.

14 . The method according to claim 8 further comprising:

generating a virtual lane for moving the vehicle to the determined driving position of the vehicle.

15 . A driver assistance system (DAS) comprising:

a camera configured to be installed on the vehicle to have a field of view and obtain image data;

a radar configured to be installed on the vehicle to have a field of view outside and obtain radar data;

at least one processor configured to be electrically connected to the camera and the radar;

at least one memory configured to be electrically connected to the processor; wherein

the memory stores at least one instructions being set to process the image data and the radar data, identify an object based on at least one of the image data and the radar data, determine a risk for the object by determining collision possibility with the identified object, and determines driving position of the vehicle within a driving lane based on the risk for the object by the at least one processor.

16 . The driver assistance system according to claim 15 , wherein

the memory stores at least one instructions being set to determine the risk for the object by dividing with respect to left-side risk and right-side risk of the vehicle based on the location information of the object.

17 . The driver assistance system according to claim 16 , wherein

the memory stores at least one instructions being set to determine the driving position of the vehicle to be deflected in the right lane or in the left lane within the driving lane based on the left-side risk and right-side risk of the vehicle.

18 . The driver assistance system according to claim 15 , wherein

the memory stores at least one instructions being set to determine the risk for the object by determining time to collision with the object based on the location information of the object and behavior information of the vehicle.