Driver assistance system and vehicle including the same

1. A driver assistance system, comprising:

an image acquisition part configured to acquire image information about an obstacle;

an obstacle detector configured to detect distance information about a distance to the obstacle;

a controller configured to acquire relative speed information of the obstacle based on the detected distance information and speed information about a driving speed detected by a speed detector, and control braking based on the acquired relative speed information,

wherein, when controlling the braking, the controller is configured to recognize a rotation direction of the vehicle body based on a yaw rate of the vehicle body detected by a yaw rate detector, recognize a position change of the obstacle in in an image based on the acquired image information, recognize whether a moving direction of the vehicle body is a backward direction based on the recognized rotation direction of the vehicle body and the recognized position change of the obstacle, and when it is determined that the moving direction of the vehicle body is the backward direction, restrict the braking,

wherein the controller is configured to recognize a rotation direction of the obstacle corresponding to the recognized position change of the obstacle and when the rotation direction of the obstacle is the same as the recognized rotation direction of the vehicle body, recognize that the moving direction of the vehicle body is the backward direction.

2. The driver assistance system of claim 1 , wherein the controller is configured to acquire lane information and obstacle information on a road based on the acquired image information, and recognize the position change of the obstacle based on the acquired lane information and the acquired obstacle information, and

the obstacle is a vehicle located in front of the vehicle body.

3. The driver assistance system of claim 2 , wherein the controller is configured to determine whether the vehicle is in a stationary state based on the detected distance information and the detected speed information, and when it is determined that the vehicle is in the stationary state, recognize a position change of the vehicle.

4. The driver assistance system of claim 1 , wherein the controller is configured to acquire object information in a stationary state based on the acquired image information, and recognize the position change of the obstacle based on the acquired object information in the stationary state.

5. The driver assistance system of claim 1 , wherein,

when the rotation direction of the obstacle is different from the recognized rotation direction of the vehicle body, the controller is configured to recognize that the moving direction of the vehicle body is a forward direction.

6. The driver assistance system of claim 1 , wherein the controller is configured to recognize the moving direction of the vehicle body based on a gear signal received from a shift lever, when the shift lever is in a normal state, and

when the shift lever is in a failure state, recognize the moving direction of the vehicle body based on the detected yaw rate of the vehicle body and the image information.

7. A driver assistance system, comprising:

an image acquisition part configured to acquire image information about an obstacle;

a controller configured to, when a shift lever is diagnosed as failure, recognize a rotation direction of the vehicle body based on a yaw rate of the vehicle body detected by a yaw rate detector, recognize a position change of the obstacle in an image based on the acquired image information, and recognize whether a moving direction of the vehicle body is a backward direction or a forward direction based on the recognized rotation direction of the vehicle body and the recognized position change of the obstacle.

8. The driver assistance system of claim 7 , further comprising:

an obstacle detector configured to detect distance information about a distance to the obstacle; and

wherein, when it is determined that the moving direction of the vehicle body is the backward direction, the controller is configured to acquire relative speed information of the obstacle based on the detected distance information and speed information about a driving speed detected by a speed detector, and control to restrict braking based on the acquired relative speed information.

9. The driver assistance system of claim 7 , wherein the controller is configured to recognize a rotation direction of the obstacle corresponding to the recognized position change of the obstacle,

when the rotation direction of the obstacle is different from the recognized rotation direction of the vehicle body, recognize that the moving direction of the vehicle body is the forward direction, and

when the rotation direction of the obstacle is the same as the recognized rotation direction of the vehicle body, recognize that the moving direction of the vehicle body is the backward direction.

10. The driver assistance system of claim 7 , wherein the controller is configured to acquire lane information and obstacle information on a road based on the acquired image information, and recognize the position change of the obstacle based on the acquired lane information and the acquired obstacle information.

11. A vehicle, comprising:

a brake system;

an image acquisition part configured to acquire image information about an obstacle;

and

a driver assistance system configured to recognize a rotation direction of the vehicle body based on a yaw rate of the vehicle body detected by a yaw rate detector, recognize a position change of the obstacle in an image based on the acquired image information, recognize whether a moving direction of the vehicle body is a backward direction or a forward direction based on the recognized rotation direction of the vehicle body and the recognized position change of the obstacle, and when it is determined that the moving direction of the vehicle body is the backward direction, control to restrict braking of the brake system,

wherein the driver assistance system is configured to recognize a rotation direction of the obstacle corresponding to the recognized position change of the obstacle and when the rotation direction of the obstacle is the same as the recognized rotation direction of the vehicle body, recognize that the moving direction of the vehicle body is the backward direction.

12. The vehicle of claim 11 , further comprising:

an obstacle detector configured to detect distance information about a distance to the obstacle; and

wherein, when it is determined that the moving direction of the vehicle body is the backward direction, the driver assistance system is configured to acquire relative speed information of the obstacle based on the detected distance information and speed information about a driving speed detected by a speed detector, and control to restrict the braking based on the acquired relative speed information.

13. The vehicle of claim 11 , further comprising:

a shift lever; and

a lever signal receiver configured to receive a gear signal from the shift lever,

wherein the driver assistance system is configured to diagnose a failure of at least one of the shift lever or the lever signal receiver based on gear information received from the lever signal receiver, and when the at least one is diagnosed as failure, recognize the moving direction of the vehicle body based on the recognized rotation direction of the vehicle body and the recognized position change of the obstacle.

14. The vehicle of claim 13 , wherein the driver assistance system is configured to recognize the moving direction of the vehicle body based on the gear signal received in the lever signal receiver, when the shift lever is in a normal state.

15. The vehicle of claim 11 , wherein the driver assistance system is configured to acquire lane information and obstacle information on a road based on the acquired image information, and recognize the position change of the obstacle based on the acquired lane information and the acquired obstacle information, and

the obstacle is another vehicle located in front of the vehicle body.

16. The vehicle of claim 15 , wherein the driver assistance system is configured to acquire object information in a stationary state based on the acquired image information, and recognize the position change of the obstacle based on the acquired object information in the stationary state.

17. The vehicle of claim 11 , wherein,

when the rotation direction of the obstacle is different from the recognized rotation direction of the vehicle body, the driver assistance system is configured to recognize that the moving direction of the vehicle body is the forward direction.