Driver assistance system and operation method thereof
Disclosed is a driver assistance system including a first processor that receives a radar signal from a radar and detects one or more first objects based on the radar signal, a second processor that receives a camera signal from a camera and detects one or more second objects based on the camera signal, a laser controller that controls a beam generator to radiate the laser beam, a segmentation unit that extracts one or more first segments and one or more second segments corresponding to the one or more second objects, a mapping unit that maps at least one of the first segments and at least one of the second segments, a classification unit that classifies a target object based on an image signal and determines a possibility of collision with the target object, and a vehicle controller that controls a vehicle drive device based on the possibility of collision.
1 . A driver assistance system, comprising:
a first processor configured to receive a radar signal from a radar and detect one or more first objects based on the radar signal to determine whether to generate a laser beam;
a second processor configured to receive a camera signal from a camera and detect one or more second objects based on the camera signal to determine whether to generate the laser beam;
a laser controller configured to control a beam generator to radiate the laser beam in response to a laser beam generation request signal generated by the first processor or the second processor;
a segmentation unit configured to extract one or more first segments corresponding to the one or more first objects and one or more second segments corresponding to the one or more second objects, in response to determination to generate the laser beam from the first processor or the second processor;
a mapping unit configured to map at least one of the first segments and at least one of the second segments;
a classification unit configured to classify a target object based on an image signal in which the mapping is completed and determine a possibility of collision with the target object; and
a vehicle controller configured to control a vehicle drive device based on the possibility of collision,
wherein the first processor is configured to:
obtain at least one information among signal intensity information, distance information, Doppler information, and azimuth angle information about each of the one or more first objects,
estimate a radar cross section (RCS) value for each of the one or more first objects based on the at least one information to:
continue receiving the radar signal, when the RCS value is less than a reference RCS value, and
estimate a speed of each of the one or more first objects, when the RCS value is greater than or equal to the reference value,
generate the laser beam generation request signal, when the speed is less than a reference speed, and
provide the vehicle controller with a first control signal for controlling the vehicle drive device based on the at least one information, when the speed is greater than or equal to the reference speed.
2 . The driver assistance system of claim 1 , wherein the second processor is configured to:
process the camera signal to determine a type of each of the one or more second objects, and
calculate a risk probability of each of the one or more second objects to:
provide the vehicle controller with a second control signal for controlling the vehicle drive device based on the radar signal, when the risk probability is greater than a first reference probability, and
compare the risk probability with a second reference probability, when the risk probability is less than or equal to the first reference probability.
3 . The driver assistance system of claim 2 , wherein the second processor is configured to:
generate the laser beam generation request signal, when the risk probability is greater than the second reference probability, and
continue receiving the camera signal, when the risk probability is less than or equal to the second reference probability.
4 . The driver assistance system of claim 1 , wherein the laser controller is configured to:
control the beam generator to radiate the laser beam in response to the laser beam generation request signal, and
provide the second processor with radiation timing information and pattern information of the laser beam.
5 . The driver assistance system of claim 4 , wherein the second processor is configured to obtain a camera image after the laser beam is radiated based on the radiation timing information and the pattern information of the laser beam.
6 . The driver assistance system of claim 1 , wherein the segmentation unit includes:
a first segmentation unit configured to extract the first segments and select a first selection segment in which an intensity of the radar signal is greater than or equal to a certain magnitude among the first segments; and
a second segmentation unit configured to extract the second segments and select a second selection segment to which the laser beam is radiated among the second segments.
7 . The driver assistance system of claim 6 , wherein the first processor is configured to obtain position information of the first selection segment, and
wherein the laser controller is configured to receive the position information of the first selection segment and control the beam generator to radiate the laser beam to the center of the first selection segment.
8 . The driver assistance system of claim 7 , wherein the mapping unit is configured to perform mapping between the first selection segment and the second selection segment and generate the image signal for the target object included in the first selection segment and the second selection segment.
9 . The driver assistance system of claim 8 , wherein the classification unit is configured to:
crop a certain portion including the target object from the image signal to classify the target object based on a deep learning algorithm, and
determine the possibility of collision with the target object based on classification of the target object, a risk probability of the target object, a distance from the target object, and a relative speed with the target object.
10 . The driver assistance system of claim 9 , wherein the vehicle controller is configured to:
control the vehicle drive device such that a vehicle avoids the target object to travel, when the possibility of collision is greater than or equal to a reference value, and
control the vehicle drive device such that the vehicle maintains a current driving state, when the possibility of collision is less than the reference value.
11 . An operation method of a driver assistance system implemented in a vehicle including a radar and a camera, the operation method comprising:
detecting one or more first objects based on a radar signal obtained by the radar to obtain information about the one or more first objects;
detecting one or more second objects based on a camera signal obtained by the camera to obtain information about the one or more second objects;
radiating a laser beam in response to a laser beam generation request signal generated based on the information about the one or more first objects or the information about the one or more second objects;
obtaining camera image information after the laser beam is radiated from the camera signal;
performing segmentation and mapping for the radar signal and the camera image information;
classifying a target object based on an image signal in which the mapping is completed and determining a possibility of collision with the target object; and
controlling a vehicle drive device based on the possibility of collision,
wherein the detecting of the one or more the first objects includes:
obtaining at least one information among signal intensity information, distance information, Doppler information, and azimuth angle information about each of the one or more first objects;
estimating a radar cross section (RCS) value for each of the one or more first objects based on the at least one information;
continuing receiving the radar signal, when the RCS value is less than a reference RCS value;
estimating a speed of each of the one or more first objects, when the RCS value is greater than or equal to the reference value;
generating the laser beam generation request signal, when the speed is less than a reference speed; and
providing the vehicle controller with a first control signal for controlling the vehicle drive device based on the at least one information, when the speed is greater than or equal to the reference speed.
12 . The operation method of claim 11 , wherein the performing of the segmentation and the mapping includes:
extracting one or more first segments from the radar signal;
determining a first selection segment in which an intensity of the radar signal is greater than or equal to a certain magnitude among the one or more first segments;
radiating the laser beam to the center of the first selection segment;
extracting one or more second segments from the camera signal;
determining a second selection segment to which the laser beam is radiated among the one or more second segments; and
mapping the first selection segment and the second selection segment.