Driver assistance system and control method thereof
Disclosed herein is a driver assistance system and a control method thereof. The driver assistance system includes a radar installed in a vehicle to detect other vehicle driving outside of the vehicle, and configured to acquire radar data comprising position information of the other vehicle, and a controller configured to calculate a risk of collision based on a relative distance of the other vehicle with respect to the vehicle. The controller generates a first region of interest partitioned along an expected driving path of the vehicle, generates a second region of interest during the vehicle moves along the expected driving path of the vehicle, when other vehicle is detected in the first region of interest, and calculates a relative distance of the other vehicle detected in the second region of interest.
1. A driver assistance system comprising:
a radar installed in a vehicle to detect other vehicle driving outside of the vehicle, and configured to acquire radar data comprising position information of the other vehicle; and
a controller configured to calculate a risk of collision based on a relative distance of the other vehicle with respect to the vehicle,
wherein the controller generates a first region of interest partitioned along an expected driving path of the vehicle, generates a second region of interest during the vehicle moves along the expected driving path of the vehicle, when the other vehicle is detected in the first region of interest, and calculates a relative distance of the other vehicle detected in the second region of interest, and
the first region of interest is generated with respect to a first coordinate system, and the second region of interest is generated with respect to a second coordinate system corresponding to after the vehicle moves along the expected driving path for a pre-selected period of time.
2. The driver assistance system of claim 1 , wherein
the first region of interest is partitioned along the expected driving path according to a steering angle of the vehicle, and a shape of the first region of interest has a curved triangle.
3. The driver assistance system of claim 1 , wherein
the second coordinate system corresponds to a coordinate system in which movement transformation and rotational transformation is performed on an origin of the first coordinate system.
4. The driver assistance system of claim 3 , wherein
the second region of interest is partitioned along the expected driving path according to a steering angle of the vehicle, and a shape of the second region of interest has a curved triangle.
5. The driver assistance system of claim 4 , wherein
the controller calculates a position vector of the other vehicle when the other vehicle is detected in the second region of interest and when a value of the position vector is reduced, the controller increases the risk of collision.
6. The driver assistance system of claim 1 , further comprising:
a camera installed in the vehicle to have a field of view outward of the vehicle, and configured to acquire position information of the other vehicle.
7. A control method performed by a driver assistance system installed in a vehicle, the control method comprising:
acquiring radar data comprising position information of other vehicle; and
calculating a risk of collision based on a relative distance of the other vehicle with respect to the vehicle;
wherein the calculation of the risk of collision comprises generating a first region of interest partitioned along an expected driving path of the vehicle, generating a second region of interest after the vehicle moves along the expected driving path of the vehicle, when the other vehicle is detected in the first region of interest, and calculating a relative distance of the other vehicle detected in the second region of interest, and
the first region of interest is generated with respect to a first coordinate system, and the second region of interest is generated with respect to a second coordinate system corresponding to after the vehicle moves along the expected driving path for a pre-selected period of time.
8. The control method of claim 7 , wherein
the first region of interest is partitioned along the expected driving path according to a steering angle of the vehicle, and a shape of the first region of interest has a curved triangle.
9. The control method of claim 7 , wherein
the second coordinate system corresponds to a coordinate system in which movement transformation and rotational transformation is performed on the originan origin of the first coordinate system.
10. The control method of claim 9 , wherein
the second region of interest is partitioned along the expected driving path according to a steering angle of the vehicle, and a shape of the second region of interest has a curved triangle.
11. The control method of claim 10 , wherein
the calculation of the risk of collision comprises calculating a position vector of the other vehicle when the other vehicle is detected in the second region of interest and increasing a riskthe risk of collision when a value of the position vector is reduced.
12. The control method of claim 7 , further comprising:
acquiring position information of the other vehicle based on image data acquired by a camera installed in the vehicle.