Driver assistance apparatus and method thereof

1. A driver assistance system (DAS), comprising:

a camera disposed on a host vehicle, having a field of view in front of the host vehicle, and configured to acquire image data;

a controller including a processor configured to process the image data,

wherein the controller is configured to:

identify at least one object obstructing a driving of the host vehicle based on the image data,

identify a stopped vehicle among the at least one object based on the image data,

set a free-space candidate based on a position of the at least one object,

set a free-space as a space reduced from the free-space candidate by a movable range in which the stopped vehicle can travel from a current relative position thereof for a reference time,

set a driving route for the host vehicle to travel within the free-space, and

control at least one of a braking device or a steering device of the host vehicle so that the host vehicle travels along the driving route.

2. The driver assistance system according to claim 1 , wherein the controller is further configured to:

set a first free-space candidate based on a position of a stopped object among the at least one object,

identify a movable range in which a moving object among the at least one object can travel based on a position and a relative speed of the moving object, and

set the free-space candidate based on a difference between the first free-space candidate and the movable range in which the moving object can travel.

3. The driver assistance system according to claim 1 , wherein the controller is further configured to determine, based on the image data, that a driving state of the stopped vehicle is a stopped state and not a parked state, upon determining that the stopped vehicle includes a lit tail light.

4. The driver assistance system according to claim 1 , wherein the controller is further configured to determine, based on the image data, that a driving state of the stopped vehicle is a stopped state and not a parked state, upon determining that the stopped vehicle includes a flashing direction indicator light.

5. The driver assistance system according to claim 1 , wherein the controller is further configured to:

receive driving information of the stopped vehicle through a wireless communication device installed in the host vehicle, and

determine, based on the driving information of the stopped vehicle, that a driving state of the stopped vehicle is a stopped state and not a parked state.

6. The driver assistance system according to claim 1 , wherein the controller identifies a moving vehicle among the at least one object based on the image data, and identifies the free-space as a space reduced from the free-space candidate a movable range in which the moving vehicle can travel from a current position of the moving vehicle for a reference time.

7. The driver assistance system according to claim 1 , wherein the controller is further configured to set the free-space so as not to overtake the stopped vehicle, upon determining that the stopped vehicle includes a flashing direction indicator light.

8. A driver assistance method, the method comprising:

processing image data acquired by a camera installed in a host vehicle and having a field of view in front of the host vehicle;

identifying at least one object obstructing the driving of the host vehicle based on the image data;

identifying a stopped vehicle among the at least one object based on the image data;

setting a free-space candidate based on a position of the at least one object;

setting a free-space as a space reduced from the free-space candidate by a movable range in which the stopped vehicle can travel from a current relative position thereof for a reference time;

setting a driving route for the host vehicle to travel within the free-space; and

controlling at least one of a braking device or a steering device of the host vehicle so that the host vehicle travels along the driving route.

9. The method according to claim 8 , wherein the setting of the free-space candidate includes:

setting a first free-space candidate based on a position of a stopped object among the at least one object,

identifying a movable range in which a moving object among the at least one object can travel based on a position and a relative speed of the moving object, and

setting the free-space candidate based on a difference between the first free-space candidate and the movable range in which the moving object can travel.

10. The method according to claim 8 , wherein the identifying of the stopped vehicle includes determining, based on the image data, that a driving state of the stopped vehicle is a stopped state and not a parked state, upon determining that the stopped vehicle includes a lit tail light.

11. The method according to claim 8 , wherein the identifying of the stopped vehicle includes determining, based on the image data, that a driving state of the stopped vehicle is a stopped state and not a parked state, upon determining that the stopped vehicle includes a flashing direction indicator light.

12. The method according to claim 8 , wherein the identifying of the stopped vehicle includes determining, based on driving information of the stopped vehicle received through a wireless communication device installed in the host vehicle, that a driving state of the stopped vehicle is a stopped state and not a parked state.

13. The method according to claim 8 further comprising:

acquiring detection data by a sensor having at least one detection field of a front and a side of the host vehicle by a group consisting of a radar sensor and a lidar sensor installed in the host vehicle;

identifying the position of at least one object based on the image data and the detection data.

14. The method according to claim 8 , wherein the setting of the free-space includes identifying a moving vehicle among the at least one object based on the image data, and identifying the free-space as a space reduced from the free-space candidate by a movable range in which the moving vehicle can travel from a current position of the moving vehicle for a reference time.

15. The method according to claim 8 , wherein the setting of the free-space includes setting the free-space so as not to overtake the stopped vehicle, upon determining that the stopped vehicle includes a flashing direction indicator light.

16. A driver assistance system (DAS), comprising:

a camera installed on a host vehicle, having a field of view in front of the host vehicle, and configured to acquire image data;

a sensor configured to have at least one detection field of the front and side of the host vehicle, and obtain detection data in the group consisting of a radar sensor and a lidar sensor which are installed in the host vehicle;

a controller including a processor configured to process the image data and the detection data,

wherein the controller is configured to:

identify at least one object obstructing a driving of the host vehicle based on the image data and the detection data,

identify a position and speed of at least one object based on the image data and the detection data,

identify a stopped vehicle among the at least one object based on the image data,

set a free-space candidate based on the position and speed of the at least one object,

set a free-space as a space reduced from the free-space candidate by a movable range in which the stopped vehicle can travel from a current relative position thereof for a reference time,

set a driving route for the host vehicle to travel within the free-space, and

control at least one of a braking device or a steering device of the host vehicle so that the host vehicle travels along the driving route.

17. The driver assistance system according to claim 16 , wherein the controller is further configured to determine, based on the image data that a driving state of the stopped vehicle is a stopped state and not a parked state, upon determining that the stopped vehicle includes a lit tail light.

18. The driver assistance system according to claim 16 , wherein the controller is further configured to determine, based on the image data that a driving state of the stopped vehicle is a stopped state and not a parked state, upon determining that the stopped vehicle includes a flashing direction indicator light.

19. The driver assistance system according to claim 16 , wherein the controller is further configured to:

receive driving information of the stopped vehicle through a wireless communication device installed in the host vehicle, and

determine, based on the driving information of the stopped vehicle, that a driving state of the stopped vehicle is a stopped state and not a parked state.

20. The driver assistance system according to claim 16 , wherein the controller identifies a moving vehicle among the at least one object based on the image data, and identifies the free-space as a space reduced from the free-space candidate by a movable range in which the moving vehicle can travel from a current position of the moving vehicle for a reference time.