KR101985074B1 - Adaptive cruise control apparatus and method thereof - Google Patents

Abstract

The present invention uses an image acquisition unit for acquiring image data in front of the own vehicle, a front vehicle detection unit for detecting the presence of the front vehicle using the image data, and a front for deriving information of the front vehicle using the image data and the front vehicle detection unit. Disclosed is an adaptive cruise control apparatus including a host vehicle predictor that predicts a traveling track and a speed of the host vehicle using data of the vehicle analyzer and the front vehicle analyzer. Here, the front vehicle analyzer may include a front vehicle distance calculator configured to calculate a distance between the front vehicle and the own vehicle, and a front vehicle travel direction estimator that estimates the travel direction of the front vehicle.

Description

ADAPTIVE CRUISE CONTROL APPARATUS AND METHOD THEREOF

TECHNICAL FIELD The present invention relates to an adaptive cruise control device and method, and more particularly, to an improved adaptive cruise control device applicable to a curved lane such as a sharp curve.

If an obstacle suddenly appears in front of the vehicle, it is necessary to prevent the collision with the obstacle by decelerating the vehicle by operating the brake, but if the driver is inadvertently not aware of it, the collision is caused.

Adaptive cruise control or smart cruise control is a function to prevent a collision with a preceding vehicle, and detects the vehicle ahead and adjusts the speed according to the distance to the vehicle ahead. Specifically, the front vehicle is sensed through a sensor mounted at the front of the vehicle, the distance to the detected vehicle is measured, and the speed is adjusted to prevent collision with the front vehicle.

In general, the adaptive cruise control device installed in a vehicle assumes a vehicle in front of a vehicle detected by the radar in front of the vehicle, and calculates the distance to the vehicle. Control only.

However, such a conventional adaptive cruise control device does not detect a vehicle present in front of the vehicle at a low speed sudden curve or misrecognize a vehicle in the next lane as a front vehicle, so it is difficult to properly follow the front vehicle. have.

SUMMARY OF THE INVENTION An object of the present invention is to provide an adaptive cruise control apparatus and method capable of stably following a vehicle by estimating lanes, detecting a vehicle in a lane, and estimating a distance and a driving direction in a lane, even at a low speed sharp curve lane. There is.

Adaptive cruise control apparatus according to an embodiment of the present invention for achieving the above object, the image acquisition unit for acquiring the image data of the front of the vehicle, the front vehicle detection unit for detecting the presence of the front vehicle using the image data, image data And a vehicle predicting unit predicting a moving track and a speed of the own vehicle using the data of the front vehicle analyzing unit and the front vehicle analyzing unit using the data of the front vehicle detecting unit using the data of the front vehicle detecting unit, wherein the front vehicle The analyzer may include a front vehicle distance calculator configured to calculate a distance between the front vehicle and the own vehicle, and a front vehicle travel direction estimator configured to estimate a travel direction of the front vehicle.

The vehicle predicting unit may further include an estimator configured to control the speed and the rotation of the host vehicle to follow the front vehicle based on the traveling track and the speed of the host vehicle.

Here, the front vehicle detection unit may include a lane recognizing unit recognizing a lane using image data and a front vehicle identification unit identifying a front vehicle in the lane.

The front vehicle analyzer may further include a curvature estimator configured to calculate a curvature of the lane.

In addition, the front vehicle traveling direction estimating unit may estimate the traveling direction of the front vehicle by using the rear symmetry axis that is the rear center of the front vehicle.

Here, the front vehicle traveling direction estimating unit uses the first distance representing the distance from the rear symmetry axis to the leftmost side of the front vehicle and the second distance representing the distance from the rear symmetry axis to the rightmost side of the front vehicle, and the traveling direction of the front vehicle. Can be estimated.

The forward vehicle traveling direction estimating unit may estimate the traveling direction of the front vehicle by using the difference between the first distance and the second distance.

Here, the forward vehicle traveling direction estimating unit estimates that the front vehicle goes straight when the value obtained by subtracting the second distance from the first distance is 0, and when the value obtained by subtracting the second distance from the first distance is greater than 0, the forward direction of the front vehicle. This may be assumed to be a left turn direction, and the value obtained by subtracting the second distance from the first distance may be smaller than 0, and the driving direction of the front vehicle may be a right turn direction.

On the other hand, the front vehicle traveling direction estimating unit may calculate the angle of the traveling direction by using the first distance and the second distance after estimating the traveling direction of the front vehicle.

The adaptive cruise control method according to another embodiment of the present invention for achieving the above object, obtaining image data of the front of the vehicle, detecting the presence of the front vehicle using the image data, detection data and image of the front vehicle Deriving information of the front vehicle using data and estimating a traveling track and speed of the own vehicle using information of the front vehicle, wherein the information of the front vehicle is a distance between the front vehicle and the own vehicle. And a traveling direction of the front vehicle.

The method may further include controlling the vehicle to follow the front vehicle by controlling the speed and the rotation of the vehicle based on the traveling track and the speed of the vehicle.

The detecting of the presence of the front vehicle may include recognizing a lane using image data and identifying a front vehicle in the lane.

On the other hand, the information of the front vehicle may further include the curvature of the lane.

Further, the direction of travel of the front vehicle can be estimated using the rear symmetry axis which is the rear center of the front vehicle.

Here, the traveling direction of the front vehicle may be estimated using a first distance representing a distance from the rear symmetry axis to the leftmost side of the front vehicle and a second distance representing a distance from the rear symmetry axis to the rightmost side of the front vehicle.

In addition, the traveling direction of the front vehicle may be estimated using the difference between the first distance and the second distance.

Here, the traveling direction of the front vehicle is estimated to go straight when the value obtained by subtracting the second distance from the first distance is 0, and is estimated to be the left turn direction when the value obtained by subtracting the second distance from the first distance is greater than 0, The value obtained by subtracting the second distance from the one distance is smaller than zero and may be estimated to be in a right direction.

Meanwhile, after estimating the traveling direction of the front vehicle, the method may further include calculating an angle of the traveling direction by using the first distance and the second distance.

According to the present invention, it is possible to provide an adaptive cruise device that autonomously follows the front vehicle of the own vehicle.

According to the present invention, it is possible to provide a device for safely following the front vehicle even in a low speed sudden curve section by estimating the traveling direction of the front vehicle of the own vehicle.

According to the present invention, it is possible to provide a method of safely following a front vehicle even in a low speed sudden curve section by estimating the traveling direction of the front vehicle of the own vehicle.

1 is a block diagram of an adaptive cruise control device according to an embodiment of the present invention.
2 is a diagram illustrating an actual screen of image data of a front vehicle according to an embodiment of the present invention.
3 is a view for explaining a rear symmetry axis of the front vehicle according to an embodiment of the present invention.
4 is a view for explaining a method of estimating the forward vehicle traveling direction according to an embodiment of the present invention.
5 is a flowchart illustrating an adaptive cruise control method according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating an example in which an adaptive cruise apparatus according to an embodiment of the present invention detects a lane recognition and a vehicle ahead in a straight lane.
7 is a diagram illustrating an example in which the adaptive cruise device according to an embodiment of the present invention calculates a distance from a vehicle ahead in a straight lane.
8 is a diagram illustrating an example in which an adaptive cruise apparatus according to another embodiment of the present invention detects a lane recognition and a vehicle ahead in a sharp curve lane.
9 is a diagram illustrating an example in which an adaptive cruise device according to another embodiment of the present invention calculates a distance from a vehicle in front of a sharp curve lane.
10 is a block diagram of a computing device in which an adaptive cruise method according to an embodiment of the present invention operates.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements.

Terms such as first, second, A, and B may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term “and / or” includes any combination of a plurality of related items or any of a plurality of related items.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

The adaptive cruise control device according to the invention relates to a device in which the own vehicle can follow the vehicle ahead at an appropriate distance by adjusting the engine and / or power transmission and potential brakes. The own vehicle can follow the front vehicle to this sudden curve road of more than 125.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of an adaptive cruise control device according to an embodiment of the present invention.

Adaptive cruise control apparatus according to an embodiment of the present invention may include an image acquisition unit 110, the front vehicle detector 120, the front vehicle analyzer 130, the host vehicle predictor 140, the follower 150 Can be. Here, each component is not limited to a name, and may be defined by a function or a role, and at least one or more of each component may be integrated to perform a function or a role.

The image acquisition unit 110 may acquire image data in front of the host vehicle. Here, the image acquisition unit 110 may include a device for acquiring image data such as a camera. The image acquisition unit 110 may include a codec that compresses or decompresses the image data to process the image data, and the codec may process an MPEG-4 ASP or H.264 / MPEG-4 AVC encoding scheme. It may be a codec, but is not limited thereto.

The front vehicle detection unit 120 may detect the front vehicle of the own vehicle by using the image data acquired from the image acquisition unit 110, and may include a lane recognition unit 121 and a front vehicle identification unit 122. . The lane recognizing unit 121 may recognize lanes 31 and 41 of the road (refer to FIGS. 6 to 9) from the image data of the image acquisition unit 110. Here, a lane recognition technology based on Super Pixel Segmentation may be applied to a method of recognizing a lane from image data, but is not limited thereto. The front vehicle identification unit 122 may identify whether or not the front vehicle exists in the lanes 31 and 41 of the road on which the own vehicle recognized by the lane recognizing unit 121 travels from the image data of the image acquisition unit 110. Can be.

The front vehicle analyzer 130 may derive the information of the front vehicle based on the image data of the image acquisition unit 110 and the front vehicle detection result of the front vehicle detector 120. The front vehicle analyzer 130 may include a curvature estimator 131, a front vehicle distance calculator 132, and a front vehicle travel direction estimator 133.

The curvature estimator 131 may estimate the curvature of the lane, and a method of estimating the curvature may be a conventional method. When the curvature of the estimated road is 0, it may be determined that the road on which the own vehicle runs is a straight road. When the curvature is greater than 0, it may be determined that the road on which the own car runs is a curved road. In addition, according to the magnitude of curvature, it is possible to determine whether the road on which the host vehicle runs is a smooth curve road or a sharp curve road.

The front vehicle distance calculator 132 may calculate the distance between the front vehicle and the host vehicle when the front vehicle of the own vehicle is detected by the front vehicle detector 120. Here, a conventional method can be used for the distance calculation method.

The forward vehicle traveling direction estimator 133 may derive the rear symmetry axis of the front vehicle by using the image data of the image acquisition unit 110, and estimate the traveling direction of the front vehicle by using the derived rear symmetry axis. It will be described in detail later with reference to FIGS.

The host vehicle predicting unit 140 may predict the traveling track and the speed of the host vehicle using the data of the front vehicle analyzing unit 130. Here, the data of the front vehicle analyzer 130 may include the curvature of the road of the curvature estimator 131, the distance between the front vehicle and the own vehicle of the square vehicle distance calculator 132, and the front vehicle of the front vehicle traveling direction estimator 133. It may include the direction of travel.

The following unit 150 may follow the front vehicle on both the straight road, the smooth curved road, and the sharp curved road according to the progress track and the speed of the own car predicted by the own vehicle predicting unit 140.

2 is a diagram illustrating an actual screen of image data of a front vehicle according to an embodiment of the present invention.

An embodiment of the present invention will be described on the assumption that the traveling direction of the front vehicle is the left turning direction. Referring to FIG. 2, the image acquisition unit 110 of the adaptive cruise control apparatus according to the present invention may acquire image data in front of the host vehicle 10, and the front vehicle traveling direction estimation unit 133 may include an image acquisition unit ( The rear symmetry axis of the front vehicle 20 may be detected using the image data acquired from 110.

3 is a view for explaining a rear symmetry axis of the front vehicle according to an embodiment of the present invention.

는 후면 대칭축으로부터 전방 차량(20)의 최좌측까지의 거리를 나타낼 수 있고,

는 후면 대칭축으로부터 전방 차량(20)의 최우측까지의 거리를 나타낼 수 있다. 전방 차량 진행 방향 추정부(133)는

및

의 차를 이용하여 전방 차량(20)의 진행 방향이 직진 방향, 좌회전 방향 및 우회전 방향 중 어느 방향인 지를 추정할 수 있다. 상세하게는, 전방 차량 진행 방향 추정부(133)는 수학식 1에 따라 전방 차량(20)의 진행 방향을 추정할 수 있다.Referring to FIG. 3, based on the rear symmetry axis of the front vehicle 20 on the image data,

May represent the distance from the rear symmetry axis to the leftmost side of the front vehicle 20,

May represent the distance from the rear symmetry axis to the rightmost side of the front vehicle 20. The forward vehicle traveling direction estimation unit 133

And

Using the difference of, the direction of travel of the front vehicle 20 can be estimated which direction of the straight direction, left turn direction and right turn direction. In detail, the front vehicle traveling direction estimator 133 may estimate the traveling direction of the front vehicle 20 according to Equation 1 below.

및

의 차가 0보다 크다면 전방 차량(20)의 진행 방향을 좌회전 방향으로 추정할 수 있으며, 0이면 전방 차량(20)의 진행 방향을 직진 방향으로 추정할 수 있고, 0보다 작으면 전방 차량(20)의 진행 방향을 우회전 방향으로 추정할 수 있다.Referring to Equation 1, the forward vehicle traveling direction estimation unit 133 is

And

If the difference is greater than 0, the traveling direction of the front vehicle 20 may be estimated in the left turning direction. If the difference is 0, the traveling direction of the front vehicle 20 may be estimated in the straight direction. ) Can be estimated as the direction of right turn.

4 is a view for explaining a method of estimating the forward vehicle traveling direction according to an embodiment of the present invention.

를 산출할 수 있다. 전방 차량 진행 방향 추정부(133)는 전방 차량(20)의 좌회전 방향의 각도

를 산출하기 이전에 수학식 2를 만족하는 지 판단할 수 있다.Referring to FIG. 4, when the front vehicle traveling direction estimator 133 estimates that the front vehicle 20 proceeds in the left turning direction, the angle in the left turning direction of the front vehicle 20 is determined.

Can be calculated. The front vehicle traveling direction estimating unit 133 is the angle in the left turn direction of the front vehicle 20.

It may be determined whether to satisfy Equation 2 before calculating.

는 실험계수(experimental coefficient)를 나타낼 수 있으며,

및

는 수학식 1에서 나타낸 것과 동일할 수 있다. 전방 차량 진행 방향 추정부(133)는 수학식 2를 만족하는 경우 수학식 3을 통해 전방 차량(20)의 좌회전 방향 각도

를 산출할 수 있다.In Equation 2,

Can represent an experimental coefficient,

And

May be the same as that shown in Equation 1. The front vehicle traveling direction estimator 133 is the left turn direction angle of the front vehicle 20 through the equation (3) when the equation (2) is satisfied

Can be calculated.

,

및

는 수학식 2에서 나타낸 것과 동일할 수 있다.In Equation 3,

,

And

May be the same as that shown in Equation 2.

5 is a flowchart illustrating an adaptive cruise control method according to an embodiment of the present invention.

In the adaptive cruise control method according to the present invention, first, image data in front of the host vehicle 10 may be acquired (S510), and lanes 31 and 41 of the host vehicle 10 may be recognized using the image data. (S520). The curvature of the road may be calculated using the lane recognition information, and the presence of the front vehicle 20 in the own lanes 31 and 41 may be detected (S530). In addition, the distance between the detected front vehicle 20 and the host vehicle 10 may be calculated (S540), and the rear symmetry axis of the front vehicle 20 may be detected (S550). Thereafter, the traveling direction of the front vehicle 20 may be estimated using the detected rear symmetry axis (S560), and the traveling trajectory and speed of the host vehicle 10 may be estimated using the information of the front vehicle 20. In operation S570, the front vehicle 20 may be followed according to the predicted trajectory and speed of the host vehicle 10 (S580).

FIG. 6 is a diagram illustrating an example in which an adaptive cruise apparatus according to an embodiment of the present invention detects a lane recognition and a vehicle ahead in a straight lane.

Assume that the host vehicle 10 equipped with the adaptive cruise apparatus according to the embodiment of the present invention is in a straight lane. The front vehicle 20 is located in front of the straight line of the host vehicle 10, and can easily detect the rear surface of the front vehicle 20 through the image data of the image acquisition unit 110, the lane 31 of the straight road also I can recognize it.

7 is a diagram illustrating an example in which the adaptive cruise device according to an embodiment of the present invention calculates a distance from a vehicle ahead in a straight lane.

In addition, when calculating the distance between the front vehicle 20 and the host vehicle 10, virtual lines 33-1, 33-2, ..., 33-N arranged at regular intervals according to the characteristics of the straight road. It may be assumed that the distance between the front vehicle 20 and the host vehicle 10 may be calculated using the line 33-8 on which the rear surface of the front vehicle 20 is located.

8 is a diagram illustrating an example in which an adaptive cruise apparatus according to another embodiment of the present invention detects a lane recognition and a vehicle ahead in a sharp curve lane.

Assume that the host vehicle 10 equipped with the adaptive cruise apparatus according to another embodiment of the present invention is in a left turn lane. In the existing adaptive cruise device, a situation in which a vehicle may recognize a vehicle in an adjacent lane instead of a vehicle in front of a sharp curved lane or lose a target vehicle in front of the target, the speed of the vehicle suddenly changes at a preset speed and is dangerous. I could face the situation.

In the adaptive cruise apparatus of the present invention, even when the host vehicle 10 is located in a sharp curved lane, the traveling direction of the front vehicle 20 can be estimated, so that the front vehicle 20 passes through the sharp curved road and the host vehicle ( Even if it disappears in front of 10), the presence of the front vehicle 20 may be detected in consideration of a sharp curved road.

9 is a diagram illustrating an example in which an adaptive cruise device according to another embodiment of the present invention calculates a distance from a vehicle in front of a sharp curve lane.

In addition, since the adaptive cruise apparatus of the present invention can estimate the curvature by recognizing the lane 41 of the curved road, the imaginary lines 43-1, 43-2, which are arranged at regular intervals according to the curvature of the curved road, 43-N may be assumed, and the line 43-2 adjacent to the rear side of the front vehicle may be identified to calculate the distance between the front vehicle 20 and the host vehicle 10 even on a curved road. .

10 is a block diagram of a computing device in which an adaptive cruise method according to an embodiment of the present invention operates.

Referring to FIG. 10, the computing device 1000 may include at least one of a processor 1100, a memory 1300, a storage 1600, and a network interface 1700 connected through a bus 1200. In addition, the computing device 1000 may further include a user interface input device 1400 and a user interface output device 1500.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes processing for instructions stored in the memory 1300 and / or the storage 1600.

The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. The memory 1300 may include a read only memory (ROM) and a random access memory (RAM), but is not limited thereto.

In connection with the embodiments disclosed herein, the steps of the described method or algorithm may be implemented directly in hardware, software modules or a combination of hardware and software modules executed by the processor 1100. Software modules are mounted in storage media such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs (ie, memory 1300 and / or storage 1600). Can be.

The above-described storage medium is coupled to the processor 1100, and the processor 1100 can read information from the storage medium and input information to the storage medium. In addition, the storage medium may be integrated with the processor 1100. The processor 1100 and the storage medium may be mounted in an application specific integrated circuit (ASIC), and the ASIC may be mounted in the computing device. In the alternative, the processor 1100 and the storage medium may reside as discrete components in the computing device.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

10: own car 20: vehicle ahead
31: Lanes on Truth Road 41: Lanes on Curve Road
110: image acquisition unit 120: front vehicle detection unit
121: lane recognition unit 122: front vehicle identification unit
130: front vehicle analysis unit 131: curvature estimation unit
132: forward vehicle distance calculation unit 133: forward vehicle travel direction estimation unit
140: vehicle prediction unit 150: following unit

Claims (20)

An image acquisition unit for acquiring image data in front of the vehicle;
A front vehicle detector configured to detect the presence of a front vehicle by using the image data;
A front vehicle analysis unit which derives information of the front vehicle using the presence of the front vehicle detected by the front vehicle detection unit and the image data; And
A host vehicle predicting unit for predicting a traveling track and a speed of the vehicle using the information of the front vehicle derived by the front vehicle analyzing unit;
The front vehicle analysis unit,
A front vehicle distance calculator configured to calculate a distance between the front vehicle and the host vehicle based on preset interval information between the front vehicle and the host vehicle; And
Adaptive cruise including a forward vehicle traveling direction estimating unit for estimating which direction of the front vehicle to turn left, right turn and straight ahead using the distance from the rear symmetry axis located in the rear center of the front vehicle to one side of the front vehicle Control unit. The method according to claim 1,
And an estimator configured to control the speed and direction of the own vehicle to follow the front vehicle based on the progress track and the speed of the own vehicle predicted by the own vehicle predictor. delete The method according to claim 1,
The front vehicle detection unit,
A lane recognizing unit recognizing a lane on which the own vehicle travels by using the image data; And
And a front vehicle identification unit for identifying a front vehicle in the recognized lane. The method according to claim 4,
The front vehicle analysis unit,
And a curvature estimator for calculating a curvature of the lane. delete The method according to claim 1,
The front vehicle traveling direction estimation unit,
Adaptive cruise estimating the traveling direction of the front vehicle using a first distance representing the distance from the rear symmetry axis to the leftmost side of the front vehicle and a second distance representing the distance from the rear symmetry axis to the rightmost side of the front vehicle Control unit. The method according to claim 7,
The front vehicle traveling direction estimation unit,
And an estimating direction of travel of the vehicle ahead using the difference between the first distance and the second distance. The method according to claim 8,
The front vehicle traveling direction estimation unit,
If the value obtained by subtracting the second distance from the first distance is 0, the vehicle ahead is estimated to go straight. If the value obtained by subtracting the second distance from the first distance is greater than 0, the traveling direction of the front vehicle is left turning direction. And estimating that the value obtained by subtracting the second distance from the first distance is smaller than 0 and the traveling direction of the front vehicle is a right turn direction. The method according to claim 7,
The front vehicle traveling direction estimation unit,
And estimating an advancing direction of the front vehicle, and calculating an angle of the advancing direction using the first distance and the second distance. Obtaining image data in front of the host vehicle;
Detecting the presence of a vehicle ahead using the image data;
Deriving information on the front vehicle by using the detected front vehicle and whether the image data is present; And
Predicting the progress track and the speed of the host vehicle using the derived front vehicle information;
Deriving the information of the front vehicle,
Calculating a distance between the front vehicle and the host vehicle based on preset interval information between the front vehicle and the host vehicle; And
Estimating which direction the front vehicle faces left, right and straight ahead using a distance from a rear symmetry axis located at the rear center of the front vehicle to one side of the front vehicle. The method according to claim 11,
And controlling the vehicle to follow the front vehicle by controlling the speed and the rotation of the host vehicle based on the predicted trajectory and the speed of the host vehicle. delete The method according to claim 11,
Detecting the presence of the front vehicle,
Recognizing a lane using the image data; And
Identifying a vehicle ahead of the lane. The method according to claim 14,
Deriving the information of the front vehicle,
Calculating a curvature of the lane. delete The method according to claim 11,
The estimating step,
And estimating using a first distance representing a distance from the rear symmetry axis to the leftmost side of the front vehicle and a second distance representing a distance from the rear symmetry axis to the rightmost side of the front vehicle. The method according to claim 17,
The estimating step,
And estimating using the difference between the first distance and the second distance. The method according to claim 18,
The estimating step,
If the value obtained by subtracting the second distance from the first distance is 0, it is estimated to go straight. If the value obtained by subtracting the second distance from the first distance is greater than 0, it is assumed to be in the left turning direction. Adaptive cruise control method for estimating that the value minus the second distance is less than zero and is in the right turn direction. The method according to claim 17,
After the estimating step,
And calculating an angle in a traveling direction of a front vehicle by using the first distance and the second distance.

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