Driver assistance system and driver assistance method

1. A driver assistance system, comprising:

a first sensor mounted on a vehicle and configured to acquire front image data;

a second sensor selected from a group comprising a radar sensor and a lidar sensor, mounted on the vehicle, and configured to acquire front detection data; and

a controller configured to select a preceding vehicle as a target vehicle based on the front image data and the front detection data and control a speed of the vehicle to follow the target vehicle,

wherein the controller is configured to:

recognize a left land and a right lane of a driving lane based on the front image data,

calculate a lateral speed of the preceding vehicle based on the front detection data,

when a difference between a length of the left lane and a length of the right lane is greater than or equal to a preset value and the lateral speed of the preceding vehicle is greater than or equal to a preset speed, recognize the preceding vehicle as a cut-out vehicle, and recognize a preceding vehicle of the cut-out vehicle as the target vehicle.

2. The driver assistance system of claim 1 , wherein the controller is configured to control the speed of the vehicle to follow the preceding vehicle of the cut-out vehicle when the cut-out vehicle is recognized, and control the speed of the vehicle to prevent the vehicle from passing the cut-out vehicle before a lane change of the cut-out vehicle is complete.

3. The driver assistance system of claim 2 , wherein the controller is configured to determine a required acceleration of the vehicle based on a relative location of the cut-out vehicle and a relative speed of the preceding vehicle of the cut-out vehicle, before the lane change of the cut-out vehicle is complete.

4. The driver assistance system of claim 1 , wherein the controller is configured to determine that the cut-out vehicle changes lanes in a direction of a shorter lane of the left lane and the right lane.

5. The driver assistance system of claim 1 , wherein the controller is configured to recognize the cut-out vehicle as the target vehicle, when the cut-out vehicle has a speed in an opposite direction to a shorter lane of the left lane and the right lane.

6. The driver assistance system of claim 1 , wherein the controller is configured to determine that a cut-in vehicle that cuts in to the driving lane from an adjacent lane exists, when a difference between a distance between the vehicle and the preceding vehicle and a length of a shorter lane of the left lane and the right lane is greater than or equal to a threshold value.

7. The driver assistance system of claim 6 , wherein the controller is configured to recognize the cut-in vehicle as the target vehicle, when the cut-in vehicle exists.

8. A driver assistance method, comprising:

acquiring front image data of a vehicle;

acquiring front detection data of the vehicle;

selecting a preceding vehicle as a target vehicle based on the front image data and the front detection data; and

controlling a speed of the vehicle to follow the target vehicle,

wherein the selecting of the target vehicle comprises:

recognizing a left land and a right lane of a driving lane based on the front image data;

calculating a lateral speed of the preceding vehicle based on the front detection data;

when a difference between a length of the left lane and a length of the right lane is greater than or equal to a preset value and the lateral speed of the preceding vehicle is greater than or equal to a preset speed, recognizing the preceding vehicle as a cut-out vehicle, and recognizing a preceding vehicle of the cut-out vehicle as the target vehicle.

9. The driver assistance method of claim 8 , wherein the controlling of the speed of the vehicle to follow the target vehicle further comprises controlling the speed of the vehicle to follow the preceding vehicle of the cut-out vehicle when the cut-out vehicle is recognized, and controlling the speed of the vehicle to prevent the vehicle from passing the cut-out vehicle before a lane change of the cut-out vehicle is complete.

10. The driver assistance method of claim 9 , wherein the controlling of the speed of the vehicle to prevent the vehicle from passing the cut-out vehicle before the lane change of the cut-out vehicle is complete comprises determining a required acceleration of the vehicle based on a relative location of the cut-out vehicle and a relative speed of the preceding vehicle of the cut-out vehicle.

11. The driver assistance method of claim 8 , further comprising:

determining that the cut-out vehicle changes lanes in a direction of a shorter lane of the left lane and the right lane.

12. The driver assistance method of claim 8 , wherein the selecting of the target vehicle comprises recognizing the cut-out vehicle as the target vehicle, when the cut-out vehicle has a speed in an opposite direction to a shorter lane of the left lane and the right lane.

13. The driver assistance method of claim 8 , further comprising:

determining that a cut-in vehicle that cuts in to the driving lane from an adjacent lane exists, when a difference between a distance between the vehicle and the preceding vehicle and a length of a shorter lane of the left lane and the right lane is greater than or equal to a threshold value.

14. The driver assistance method of claim 13 , wherein the selecting of the target vehicle further comprises recognizing the cut-in vehicle as the target vehicle, when the cut-in vehicle exists.

15. A non-transitory computer-readable medium storing computer-executable instructions when executed by a processor, cause the processor to:

acquire front image data of a vehicle;

acquire front detection data of the vehicle;

select a preceding vehicle as a target vehicle based on the front image data and the front detection data; and

control a speed of the vehicle to follow the target vehicle,

wherein the instructions, when executed by the processor, further cause the processor to:

recognize a left land and a right lane of a driving lane based on the front image data,

calculate a lateral speed of the preceding vehicle based on the front detection data,

when a difference between a length of the left lane and a length of the right lane is greater than or equal to a preset value and the lateral speed of the preceding vehicle is greater than or equal to a preset speed, recognize the preceding vehicle as a cut-out vehicle, and recognize a preceding vehicle of the cut-out vehicle as the target vehicle.

16. The non-transitory computer-readable medium of claim 15 , wherein the instructions, when executed by the processor, further cause the processor to:

control the speed of the vehicle to follow the preceding vehicle of the cut-out vehicle when the cut-out vehicle is recognized, and control the speed of the vehicle to prevent the vehicle from passing the cut-out vehicle before a lane change of the cut-out vehicle is complete.

17. The non-transitory computer-readable medium of claim 16 , wherein the instructions, when executed by the processor, further cause the processor to:

determine a required acceleration of the vehicle based on a relative location of the cut-out vehicle and a relative speed of the preceding vehicle of the cut-out vehicle.

18. The non-transitory computer-readable medium of claim 15 , wherein the instructions, when executed by the processor, further cause the processor to:

determine that the cut-out vehicle changes lanes in a direction of a shorter lane of the left lane and the right lane.

19. The non-transitory computer-readable medium of claim 15 , wherein the instructions, when executed by the processor, further cause the processor to:

recognize the cut-out vehicle as the target vehicle, when the cut-out vehicle has a speed in an opposite direction to a shorter lane of the left lane and the right lane.

20. The non-transitory computer-readable medium of claim 15 , wherein the instructions, when executed by the processor, further cause the processor to:

determine that a cut-in vehicle that cuts in to the driving lane from an adjacent lane exists, when a difference between a distance between the vehicle and the preceding vehicle and a length of a shorter lane of the left lane and the right lane is greater than or equal to a threshold value.