Driver assistance apparatus

1. An apparatus for assisting driving of a vehicle, the apparatus comprising:

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

a dynamics sensor mounted on the vehicle and configured to acquire dynamics data that is a motion state of the vehicle; and

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

wherein the controller is configured to:

generate, when the vehicle is at a first position, a front virtual lane on the basis of the field of view in front of the vehicle based on the front image data,

in response to the vehicle moving from the first position to a second position distanced from the first position, generate a rear virtual lane on the basis of a field of view in rear of the vehicle based on (i) the dynamics data of the vehicle moving from the first position to the second position and (ii) the front virtual lane generated when the vehicle is at the first position,

calculate a curvature of the front virtual lane and a curvature of the rear virtual lane, and

generate a side virtual lane which is connected to the front virtual lane and the rear virtual lane on the basis of a field of view on a side of the vehicle based on the curvature of the front virtual lane and the curvature of the rear virtual lane.

2. The apparatus of claim 1 , wherein

the controller is configured to

acquire a moving distance of the vehicle based on traveling speed information of the vehicle from the first position to the second position,

calculate a required time from the first position to the second position, and

in response the vehicle moving from the first position to the second position, generate the rear virtual lane based on the front virtual lane acquired before the required time.

3. The apparatus of claim 2 , wherein the controller is configured to generate an entire virtual lane in which the front virtual lane and the rear virtual lane at the second position are connected to each other.

4. The apparatus of claim 3 , wherein

the controller is configured to

calculate the curvature of the front virtual lane at the second position and the curvature of the rear virtual lane at the second position,

generate the side virtual lane on the basis of the field of view on the side of the vehicle based on the curvature of the front virtual lane at the second position and the curvature of the rear virtual lane at the second position, and

generate the entire virtual lane in which the front virtual lane, the side virtual lane, and the rear virtual lane are connected to each other.

5. The apparatus of claim 1 , wherein the controller is configured to acquire front coordinate information for the front virtual lane, acquire rear coordinate information for the rear of the vehicle through a predetermined transformation matrix in which the vehicle and an angular velocity of the vehicle are reflected in the front coordinate information, generate the rear virtual lane based on the rear coordinate information, and perform a lane keeping assist (LKA) and a lane following assist (LFA) based on the rear virtual lane.

6. The apparatus of claim 1 , wherein the controller is configured to receive a steering angle of the vehicle, and regenerate the rear virtual lane based on the steering angle.

7. The apparatus of claim 1 , further comprising a radar sensor mounted on the vehicle and having a field of sensing directed to the rear of the vehicle, the radar sensor configured to sense a rear obstacle,

wherein the controller is configured to output a warning signal in response to the rear obstacle being sensed and the rear obstacle departing the rear virtual lane.

8. The apparatus of claim 1 , wherein the dynamics sensor includes a wheel speed sensor, a steering angle sensor, and a yaw rate sensor, and is configured to obtain a traveling speed, a steering angle, and a yaw rate of the vehicle.

9. An apparatus for assisting driving of a vehicle, the apparatus comprising:

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

a dynamics sensor mounted on the vehicle and configured to acquire dynamics data that is a motion state of the vehicle; and

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

wherein the controller is configured to:

convert the front image data acquired when the vehicle is at a first position into rear image data on the basis of a field of view in rear of the vehicle,

in response to the vehicle moving from the first position to a second position distanced from the first position, generate a rear image of the vehicle based on (i) the dynamics data of the vehicle moving from the first position to the second position and (ii) the rear image data converted from the front image data acquired when the vehicle is at the first position,

generate a front virtual lane on the basis of the field of view in front of the vehicle based on the front image data,

generate a rear virtual lane on the basis of a field of view in rear of the vehicle based on the rear image,

calculate a curvature of the front virtual lane and a curvature of the rear virtual lane, and

generate a side virtual lane which is connected to the front virtual lane and the rear virtual lane on the basis of a field of view on a side of the vehicle based on the curvature of the front virtual lane and the curvature of the rear virtual lane.

10. The apparatus of claim 9 , wherein

the controller is configured to

acquire a moving distance of the vehicle based on traveling speed information of the vehicle from the first position to the second position,

calculate a required time from the first position to the second position, and

in response to the vehicle moving from the first position to the second position, generate the rear virtual lane based on the front virtual lane acquired before the required time.

11. The apparatus of claim 10 , wherein the controller is configured to generate an entire virtual lane in which the front virtual lane and the rear virtual lane at the second position are connected to each other.

12. The apparatus of claim 11 , wherein

the controller is configured to

calculate the curvature of the front virtual lane at the second position and the curvature of the rear virtual lane at the second position,

generate the side virtual lane on the basis of the field of view on the a side of the vehicle based on the curvature of the front virtual lane at the second position and the curvature of the rear virtual lane at the second position, and

generate the entire virtual lane in which the front virtual lane, the side virtual lane, and the rear virtual lane are connected to each other.

13. The apparatus of claim 12 , wherein the controller is configured to calculate an amount of change in the curvature of the front virtual lane at the second position and an amount of change in the curvature of the rear virtual lane at the second position, and generate the side virtual lane.

14. The apparatus of claim 9 , wherein the controller is configured to receive a steering angle of the vehicle, and regenerate the rear virtual lane based on the steering angle.

15. The apparatus of claim 9 , further comprising a radar sensor mounted on the vehicle and having a field of sensing directed to the rear of the vehicle, the radar sensor configured to sense a rear obstacle,

wherein the controller is configured to output a warning signal in response to the rear obstacle being sensed and the rear obstacle departing the rear virtual lane.

16. The apparatus of claim 9 , wherein the dynamics sensor includes a wheel speed sensor, a steering angle sensor, and a yaw rate sensor, and is configured to obtain a traveling speed, a steering angle, and a yaw rate of the vehicle.

17. A method of controlling an apparatus for assisting driving of a vehicle, the method comprising:

acquiring, through a front camera of the apparatus, front image data;

acquiring, through a dynamics sensor of the apparatus, dynamics data;

generating, when the vehicle is at a first position, through a controller of the apparatus, a front virtual lane on the basis of a field of view in front of the vehicle based on the front image data;

generating, in response to the vehicle moving from the first position to a second position distanced from the first position, through the controller, a rear virtual lane on the basis of a field of view in rear of the vehicle based on (i) the dynamics data of the vehicle moving from the first position to the second position and (ii) the front virtual lane generated when the vehicle is at the first position,

calculating, through the controller, a curvature of the front virtual lane and a curvature of the rear virtual lane, and

generating, through the controller, a side virtual lane which is connected to the front virtual lane and the rear virtual lane on the basis of a field of view on a side of the vehicle based on the curvature of the front virtual lane and the curvature of the rear virtual lane,

wherein the driving of the vehicle is assisted by using the generated front virtual lane, the generated rear virtual lane, and the generated side virtual lane connected to the front virtual lane and the rear virtual lane.

18. The method of claim 17 , wherein the generating of the rear virtual lane includes

acquiring a moving distance of the vehicle based on traveling speed information of the vehicle from the first position to the second position,

calculating a required time from the first position to the second position, and

in response to the vehicle moving from the first position to the second position, generating the rear virtual lane based on the front virtual lane acquired before the required time.

19. The method of claim 18 , further comprising:

calculating the curvature of the front virtual lane at the second position and the curvature of the rear virtual lane at the second position,

generating the side virtual lane based on the field of view on the side of the vehicle based on the curvature of the front virtual lane at the second position and the curvature of the rear virtual lane at the second position, and

generating an entire virtual lane in which the front virtual lane, the side virtual lane, and the rear virtual lane are connected to each other.