Driver assistant system and method of controlling the same

1. A driver assistance system comprising:

an internal camera installed in a vehicle to detect whether a driver is in a drowsy driving, and configured to photograph a state of eyes of the driver to acquire drowsiness data;

a first sensor installed in the vehicle to have a front-side view of the vehicle, and configured to acquire first sensor data to detect an object in the front-side view;

a second sensor installed in the vehicle to have a rear-side view of the vehicle and configured to acquire second sensor data to detect an object in the rear-side view; and

a controller including at least one processor configured to process the drowsiness data, the first sensor data, and the second sensor data,

wherein the controller is configured to:

if a result of processing the drowsiness data is that the driver has closed the driver's eyes for a predetermined time or longer, transmit a control signal to at least one of a braking device or a steering device to perform a lane change for stopping the vehicle based on a result of processing the first sensor data and the second sensor data, and

if a shoulder lane is absent on a left side or a right side of the vehicle, generate a warning signal for waking the driver.

2. The driver assistance system of claim 1 , further comprising a torque sensor configured to measure a steering torque caused by a steering manipulation of the driver,

wherein the controller is configured to:

in response to having no change in the steering torque from the torque sensor, identify that the driver is in no contact with the steering wheel; and transmit the control signal to the at least one of the braking device or the steering device to perform the lane change for stopping the vehicle.

3. The driver assistance system of claim 2 , wherein the controller is configured to:

if the result of processing the drowsiness data is that the driver has closed the driver's eyes for the predetermined time or longer, generate a warning signal for waking the driver, and

in response to having no change in the capacitance from the contact detection sensor after the generation of the warning signal, transmit the control signal to the at least one of the braking device or the steering device to perform the lane change for stopping the vehicle.

4. The driver assistance system of claim 1 , further comprising a contact detection sensor mounted on a steering wheel of the vehicle and configured to detect a change in capacitance caused by a contact of the driver with the steering wheel, and

wherein the controller is configured to:

in response to having no change in the capacitance from the contact detection sensor, identify that the driver is in no contact with the steering wheel; and transmit the control signal to the at least one of the braking device or the steering device to perform the lane change for stopping the vehicle.

5. The driver assistance system of claim 1 , wherein the controller performs a lane change to the left side or the right side if no object is detected on the left side or the right side of the vehicle.

6. The driver assistance system of claim 1 , wherein the controller is configured to, if a lane on the left side or the right side of the vehicle is a shoulder lane, perform a lane change and then stop the vehicle.

7. The driver assistance system of claim 6 , wherein the controller is configured to, if a lane line adjacent to the left or right side of the vehicle is a solid line, identify that a lane on the left or right side of the vehicle is a shoulder lane.

8. The driver assistance system of claim 1 , wherein the first sensor includes at least one of a charge-coupled device (CCD) camera or a light detection and ranging (LiDAR), and the second sensor includes a radar.

9. The driver assistance system of claim 1 , wherein the first sensor includes a corner radar having the front-side view of the vehicle, and

the controller is configured to:

identify whether a fixed object exists on the left side or the right side of the vehicle through the corner radar, and if a distance between the fixed object and the vehicle is greater than or equal to a certain distance, identify that a shoulder lane exists.

10. A method of controlling a driver assistance system, the method comprising:

photographing a state of eyes of a driver to acquire drowsiness data, to detect whether the driver is in a drowsy driving;

acquiring first sensor data to detect an object in a front-side view of a vehicle;

acquiring second sensor data to detect an object in a rear-side view of the vehicle;

processing the drowsiness data, the first sensor data, and the second sensor data; and

if a result of processing the drowsiness data is that the driver has closed the driver's eyes for a predetermined time or longer, transmitting a control signal to at least one of a braking device or a steering device to perform a lane change for stopping the vehicle based on a result of processing the first sensor data and the second sensor data,

wherein the transmitting of the control signal includes, if a shoulder lane is absent on a left side or a right side of the vehicle, generate a warning signal for waking the driver.

11. The method of claim 10 , further measuring a steering torque caused by a steering manipulation of the driver,

wherein the transmitting of the control signal includes:

in response to having no change in the steering torque, identifying that the driver is in no contact with the steering wheel; and transmitting the control signal to the at least one of the braking device or the steering device to perform the lane change for stopping the vehicle.

12. The method of claim 11 , wherein the transmitting of the control signal includes:

if the result of processing the drowsiness data is that the driver has closed the driver's eyes for the predetermined time or longer, generating a warning signal for waking the driver; and

in response to having no change in the capacitance from the contact detection sensor after the generating of the warning signal, transmitting the control signal to the at least one of the braking device or the steering device to perform the lane change for stopping the vehicle.

13. The method of claim 10 , further comprising detecting a change in capacitance caused by a contact of the driver with the steering wheel, and

wherein the transmitting of the control signal includes:

in response to having no change in the capacitance, identifying that the driver is in no contact with the steering wheel, and transmitting the control signal to the at least one of the braking device or the steering device to perform the lane change for stopping the vehicle.

14. The method of claim 10 , wherein the transmitting of the control signal includes

performing a lane change to the left side or the right side if no object is detected on the left side or the right side of the vehicle.

15. The method of claim 10 , wherein the transmitting of the control signal includes, if a lane on the left side or the right side of the vehicle is a shoulder lane, performing a lane change and then stop the vehicle.

16. The method of claim 15 , wherein the transmitting of the control signal includes, if a lane line adjacent to the left side or the right side of the vehicle is a solid line, identifying that a lane on the left side or the right side of the vehicle is a shoulder lane.

17. The method of claim 10 , wherein the first sensor data is acquired through at least one of a charge-coupled device (CCD) camera or a light detection and ranging (LiDAR), and the second sensor data is acquired through a radar.

18. The method of claim 10 , wherein the first sensor data is acquired through a corner radar having the front-side view of the vehicle, and

the transmitting of the control signal includes:

identifying whether a fixed object exists on the left side or the right side of the vehicle through the corner radar, and if a distance between the fixed object and the vehicle is greater than or equal to a certain distance, identifying that a shoulder lane exists.