阅读说明：本技术 用于车辆的紧急制动预备装置 (Emergency brake preparation device for vehicle ) 是由 池容官 于 2018-07-19 设计创作，主要内容包括：一种用于车辆的紧急制动预备装置可以包括：车辆检测单元,被配置为检测车辆速度；行驶道路检测单元,被配置为检测行驶道路的类型；周围环境检测单元,被配置为检测车辆的周围环境；紧急制动控制模块,被配置为将制动器的制动压力控制为预设的制动状态；以及控制单元,被配置为根据由车辆检测单元检测的车辆速度、由行驶道路检测单元检测的行驶道路、以及由周围环境检测单元检测的周围环境中的一者或多者来控制摄像机的视野,并且控制单元根据摄像机的视野控制紧急制动控制模块。(An emergency brake preparation apparatus for a vehicle may include: a vehicle detection unit configured to detect a vehicle speed; a travel road detection unit configured to detect a type of a travel road; a surrounding environment detection unit configured to detect a surrounding environment of the vehicle; an emergency braking control module configured to control a braking pressure of a brake to a preset braking state; and a control unit configured to control a field of view of the camera according to one or more of the vehicle speed detected by the vehicle detection unit, the travel road detected by the travel road detection unit, and the surrounding environment detected by the surrounding environment detection unit, and control the emergency braking control module according to the field of view of the camera.)

1. An emergency brake preparation apparatus for a vehicle, comprising:

a camera configured to capture an image of a road ahead of the vehicle;

an emergency braking control module configured to control a braking pressure of a brake to a preset braking state; and

a control unit configured to control a field of view of the camera and to control the emergency braking control module according to the field of view of the camera;

wherein the control unit controls the brake pressure of the brake to a preset brake state through the emergency brake control module according to whether to expand or reduce the field of view of the camera.

2. The emergency brake preparation apparatus according to claim 1, further comprising a surrounding environment detection unit configured to detect a surrounding environment of the vehicle,

wherein the control unit determines whether a driving state is traffic congestion and determines whether pedestrian information satisfies a preset pedestrian condition based on the number of moving targets and stationary targets detected by the surrounding environment detection unit, and controls the field of view of the camera according to the determined result.

3. The emergency brake preparation device according to claim 2, wherein the control unit narrows a field of view of the camera when the travel state is traffic congestion and the pedestrian information satisfies the pedestrian condition, and enlarges the field of view of the camera when the travel state is traffic congestion and the pedestrian information does not satisfy the pedestrian condition.

4. The emergency brake preparation apparatus according to claim 2, wherein when determining whether the pedestrian information satisfies the pedestrian condition, the control unit determines whether the number of pedestrians is equal to or greater than a preset threshold value or determines whether an exposure time of a pedestrian is equal to or greater than a preset threshold time.

5. The emergency brake preparation apparatus according to claim 1, further comprising a surrounding environment detection unit configured to detect a surrounding environment of the vehicle and a travel road detection unit configured to detect a type of a travel road,

wherein the control unit determines whether a traveling state is traffic congestion and determines whether a traveling road detected by the traveling road detection unit is an expressway based on the number of moving targets and stationary targets detected by the surrounding environment detection unit, and the control unit controls the field of view of the camera according to the result of the determination.

6. The emergency brake preparation device according to claim 5, wherein the control unit narrows a field of view of the camera when the travel state is not traffic congestion and the travel road is not an expressway.

7. The emergency brake preparation device according to claim 1, further comprising a travel road detection unit configured to detect a type of a travel road,

wherein the control unit determines whether the travel road detected by the travel road detection unit is an expressway, determines whether the vehicle speed detected by the vehicle speed detection unit is equal to or greater than a preset threshold speed, and controls the field of view of the camera according to the result of the determination.

8. The emergency brake preparation apparatus according to claim 7, wherein the control unit enlarges the field of view of the camera when the travel road is an expressway and the vehicle speed is equal to or greater than the threshold speed.

9. The emergency brake preparation device of claim 1, wherein the emergency brake control module comprises:

a brake pressure state detection unit configured to detect a current brake pressure state of the brake; and

a brake pressure adjusting unit configured to adjust the brake pressure of the brake to a preset braking state in a stepwise manner based on the current brake pressure state detected by the brake pressure state detecting unit according to a control signal of the control unit.

10. The emergency brake preparation apparatus according to claim 9, wherein the control unit controls the brake pressure adjusting unit to increase the brake pressure of the brake when the field of view of the camera is reduced.

11. The emergency brake preparation apparatus according to claim 10, wherein after controlling the brake pressure adjustment unit to increase the brake pressure of the brake, the control unit calculates a collision risk based on a vehicle speed and a pedestrian detected by a surrounding environment detection unit, and controls the brake pressure adjustment unit to additionally increase the brake pressure of the brake according to the calculated collision risk.

12. The emergency brake preparation apparatus according to claim 11, wherein the control unit controls the brake pressure adjusting unit to additionally increase the brake pressure of the brake when the collision risk is equal to or greater than a preset reference collision risk.

13. The emergency brake preparation apparatus according to claim 9, wherein the control unit controls the brake pressure adjusting unit to reduce the brake pressure of the brake when the field of view of the camera is enlarged.

14. The emergency brake preparation apparatus of claim 9, wherein the emergency brake control module further comprises an emergency braking unit configured to: outputting a step-by-step alert when a square target appears in front of the vehicle; and operating the brake after the step warning is output, when the driver does not press the brake pedal, or in a case where a front target appears in front of the vehicle without the step warning and the time required for the driver to take action is shorter than the designed time.

Technical Field

The present invention relates to an emergency brake preparation apparatus for a vehicle, and more particularly, to an emergency brake preparation apparatus for a vehicle, which adjusts a field of view (FOV) of a camera according to a traveling speed, a traveling road, and a traveling environment of the vehicle, and controls a brake pressure in a stepwise manner based on the FOV.

Background

As the demand for safety performance of vehicles increases, recently, various types of safety devices have been installed in vehicles.

The safety device may include an Autonomous Emergency Braking (AEB) system.

The AEB system can determine whether sudden braking is required and brake the vehicle during an emergency situation, thereby preventing a collision with another vehicle or a pedestrian during driving. The AEB system is one of the security devices that european NCAP (european new car assessment program) encourages users to install.

In order to determine whether an emergency situation occurs or whether an obstacle is present in front of the vehicle, the AEB system needs to continuously monitor or observe the road in front of the vehicle during driving.

However, since a camera for observing the road ahead has a predetermined FOV, it is difficult to cause the camera to maintain an appropriate observation range under various driving conditions.

Thus, the FOV of the camera may be adjusted to maintain an appropriate viewing range. However, in this case, since the FOV is adjusted in consideration of only the traveling speed of the vehicle, the pedestrian cannot be recognized.

The related art of the present invention is disclosed in korean patent publication No. 10-2012 0126152, which was published on 21/11/2012 and entitled "image forming apparatus, image forming method, and image information extracting apparatus".

Disclosure of Invention

Embodiments of the present invention relate to an emergency brake preparation apparatus for a vehicle that adjusts the FOV of a camera according to the traveling speed, the traveling road, and the traveling environment of the vehicle and controls the brake pressure in a stepwise manner based on the FOV.

In one embodiment, an emergency brake preparation apparatus for a vehicle may include: a vehicle detection unit configured to detect a vehicle speed; a travel road detection unit configured to detect a type of a travel road; a surrounding environment detection unit configured to detect a surrounding environment of the vehicle; an emergency braking control module configured to control a braking pressure of a brake to a preset braking state; and a control unit configured to control the FOV of the camera according to one or more of the vehicle speed detected by the vehicle detection unit, the travel road detected by the travel road detection unit, and the surrounding environment detected by the surrounding environment detection unit, and to control the emergency braking control module according to the FOV of the camera.

The control unit may determine whether the driving state is traffic congestion and whether the pedestrian information satisfies a preset pedestrian condition based on the number of the moving objects and the stationary objects detected by the surrounding environment detecting unit, and control the FOV of the camera according to the determined result.

When the driving state is traffic congestion and the pedestrian information satisfies the pedestrian condition, the control unit may reduce the FOV of the camera.

When the driving state is traffic congestion and the pedestrian information does not satisfy the pedestrian condition, the control unit may expand the FOV of the camera.

When determining whether the pedestrian information satisfies the pedestrian condition, the control unit may determine whether the number of pedestrians is equal to or greater than a preset threshold value or whether the exposure time of the pedestrians is equal to or greater than a preset threshold time.

The control unit may determine whether the traveling state is traffic congestion and determine whether the traveling road detected by the traveling road detection unit is an expressway based on the number of the moving objects and the stationary objects detected by the surrounding environment detection unit, and control the FOV of the camera according to the result of the determination.

When the travel state is not traffic congestion and the travel road is not an expressway, the control unit may reduce the FOV of the camera.

The control unit may determine whether the travel road detected by the travel road detection unit is an expressway, determine whether the vehicle speed detected by the vehicle speed detection unit is equal to or greater than a preset threshold speed, and control the FOV of the camera according to the result of the determination.

The control unit may expand the FOV of the camera when the driving road is an expressway and the vehicle speed is equal to or greater than a threshold speed.

When the driving road is an expressway and the vehicle speed is less than the threshold speed, the control unit may reduce the FOV of the camera.

The control unit may control the brake pressure of the brake to a preset brake state in a stepwise manner through the emergency brake control module according to whether the FOV of the camera is enlarged or reduced.

The emergency braking control module may include: a brake pressure state detection unit configured to detect a current brake pressure state of the brake; and a brake pressure adjusting unit configured to adjust the brake pressure of the brake to a preset brake state in a stepwise manner based on the current brake pressure state detected by the brake pressure state detecting unit according to a control signal of the control unit.

When the FOV of the camera is reduced, the control unit may control the brake pressure adjusting unit to increase the brake pressure of the brake.

After controlling the brake pressure adjusting unit to increase the brake pressure of the brake, the control unit may calculate a collision risk based on the vehicle speed detected by the vehicle speed detecting unit and the pedestrian detected by the surrounding environment detecting unit, and control the brake pressure adjusting unit to additionally increase the brake pressure of the brake according to the calculated collision risk.

The control unit may control the brake pressure adjusting unit to additionally increase the brake pressure of the brake when the collision risk is equal to or greater than a preset reference collision risk.

The control unit may classify the pedestrian into a child and an adult and apply weights to the child and the adult, respectively, to calculate the collision risk, wherein the weight of the child is higher than the weight of the adult.

When the FOV of the camera is enlarged, the control unit may control the brake pressure adjusting unit to reduce the brake pressure of the brake.

The emergency brake control module may further include an emergency brake unit configured to: outputting a step-by-step alarm when the front target appears in front of the vehicle; and operates the brake after the step warning is output, when the driver does not press the brake pedal, or in the case where a front target appears in front of the vehicle without the step warning and the time required for the driver to take action is shorter than the designed time.

Drawings

Fig. 1 is a block diagram illustrating an emergency brake preparation apparatus for a vehicle according to an embodiment of the present invention.

Fig. 2 schematically shows FOV control of a vehicle according to an embodiment of the present invention.

Fig. 3 illustrates a method for detecting pedestrian information around a road according to an embodiment of the present invention.

Fig. 4 is a flowchart illustrating an emergency brake preparation method for a vehicle according to an embodiment of the present invention.

Detailed Description

An emergency brake preparation apparatus for a vehicle according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the drawings are not precisely to scale, and the thickness of lines or the size of components may be exaggerated for the purpose of descriptive convenience and clarity only. Further, terms used herein are defined in consideration of functions of the present invention, and may be changed according to custom or intention of a user or an operator. Accordingly, the definition of terms should be made in accordance with the overall disclosure set forth herein.

Fig. 1 is a block diagram illustrating an emergency brake preparation apparatus for a vehicle according to an embodiment of the present invention, fig. 2 schematically illustrates FOV control of a vehicle according to an embodiment of the present invention, and fig. 3 illustrates a method for detecting pedestrian information around a road according to an embodiment of the present invention.

Referring to fig. 1, the emergency brake preparation apparatus for a vehicle according to an embodiment of the present invention may include a camera 10, a surrounding environment detection unit 20, a radar sensor 22, a vehicle speed detection unit 30, a travel road detection unit 40, a navigation module 50, an emergency brake control module 60, and a control unit 70.

The camera 10 can capture an image of the road ahead of the vehicle. From the image taken by the camera 10, a forward object, a pedestrian, or the like can be detected. The front target may include a moving target and a stationary target. Further, the front target may include a front vehicle, a traffic sign, and a driving lane.

The camera 10 may have an FOV adjusted according to a traveling speed, a traveling road, and a traveling environment of the vehicle. As will be described later.

The surrounding environment detection unit 20 may detect the surrounding environment of the vehicle, for example, the number of pedestrians or forward targets, from the information detected by the camera 10 or the radar sensor 22.

For reference, the present embodiment may be based on the following assumptions: the surrounding environment detection unit 20 detects the surrounding environment by the camera 10 or the radar sensor 22. However, the present invention is not limited thereto, and various types of detection units may be employed as the surrounding environment detection unit 20 as long as the detection unit can be installed in a vehicle and can detect a surrounding situation.

The vehicle speed detection unit 30 may detect the speed of the vehicle. The vehicle speed detection unit 30 may detect the vehicle speed by a vehicle speed sensor installed in the vehicle, but receive the vehicle speed from the navigation module 50.

The travel road detection unit 40 may detect a travel road on which the vehicle is traveling. The traveling road detection unit 40 may be connected to the navigation module 50 and detect a traveling road on which the vehicle is traveling based on map information stored in the navigation module 50. In this case, the travel road detection unit 40 may detect the travel road by the navigation module 50 installed in the vehicle. However, in addition, the traveling road detection unit 40 may receive information on the traveling road through a navigation server that is connected to the vehicle via wireless communication and provides various map information or route information.

The travel road detected by the travel road detection unit 40 may be classified into an expressway and a general road. The expressway may include an expressway and an urban expressway, and the general road may include a local road and an urban general road.

The emergency brake control module 60 may control the brake pressure of the brake to a preset brake state in a stepwise manner according to the FOV of the camera 10.

The emergency brake control module 60 may include a brake pressure state detection unit 61, a brake pressure adjustment unit 62, and an emergency brake unit 63.

The brake pressure state detection unit 61 may detect a current brake pressure of a brake (not shown), for example, a brake fluid pressure, etc. At this time, the brake pressure state detection unit 61 may convert the current brake pressure into a corresponding ratio on the assumption that a state in which the wheels of the vehicle are completely stopped without rotating is set as a reference ratio of 100%.

The brake pressure adjusting unit 62 may adjust the brake pressure of the brake to a preset braking state according to a control signal of the control unit 70. However, the actuator for adjusting the braking pressure may be changed according to the braking method of the brake. On the assumption that the state in which the wheels of the vehicle are completely stopped without rotating is set to the reference ratio of 100%, the braking state may be divided into a plurality of levels. Thus, the brake pressure adjusting unit 62 may adjust the braking state to any one of a plurality of levels based on the current brake pressure state according to the control signal of the control unit 70.

Since the observed front object or pedestrian appears in front of the vehicle, the emergency braking unit 63 may forcibly operate the brake when the time required for the driver to take action is shorter than a specified time (for example, the statistical time required for the driver to step on the brake after recognizing the front object or pedestrian) even if the step alarm is not output, even if the step alarm is output and the driver does not take action, or in the case where the front object appears in front of the vehicle.

The control unit 70 may control the FOV of the camera 10 according to one or more of the vehicle speed detected by the vehicle speed detection unit 30, the traveling road detected by the traveling road detection unit 40, and the front target detected by the ambient environment detection unit 20, and the control unit 70 may control the emergency brake control module 60 in a stepwise manner according to the FOV of the camera 10 to control the brake pressure of the brake to a preset brake state.

That is, the control unit 70 may expand or contract the FOV of the camera 10 according to each situation based on the vehicle speed detected by the vehicle speed detection unit 30, the travel road detected by the travel road detection unit 40, and the front target detected by the surrounding environment detection unit 20. Further, the control unit 70 may control the emergency brake control module 60 to increase or decrease the brake pressure of the brake to a preset braking state in a stepwise manner.

More specifically, the control unit 70 may determine whether the traveling situation satisfies the traffic congestion based on the number of moving targets and stationary targets detected by the forward target detection unit. When the determination result indicates that the driving situation is traffic congestion, the control unit 70 may determine whether the pedestrian information satisfies a preset pedestrian condition, and narrow or enlarge the FOV of the camera 10 according to the determination result. At this time, the control unit 70 may reduce the FOV of the camera 10 when the pedestrian information satisfies the pedestrian condition, and the control unit 70 may expand the FOV of the camera 10 when the pedestrian information does not satisfy the pedestrian condition.

In this case, the control unit 70 may determine that the driving situation is traffic congestion when the number of moving targets detected by the surrounding environment detecting unit 20 is equal to or greater than a preset moving target threshold value, or the number of stationary targets is equal to or greater than a preset stationary target threshold value. Further, the control unit 70 may determine that the pedestrian condition is satisfied when the number of pedestrians is equal to or greater than a preset threshold value, or the exposure time of the pedestrians is equal to or greater than a preset threshold time.

When an excessive number of pedestrians are included in one frame of an image, it is not easy to calculate the number of pedestrians in a short time, thereby consuming a lot of load. When the pedestrians in the image are not separated but overlap each other or stand next to each other, the exposure time may include information indicating how many pedestrians are in a row on the pedestrian path, instead of directly calculating the number of pedestrians. In other words, the exposure time may include information on the lengths of pedestrians in a row, the distance between which is shorter than a specified distance.

The control unit 70 may control the FOV of the camera 10 according to whether the traveling situation is traffic congestion and whether the traveling road detected by the traveling road detection unit 40 is the FOV of the highway. In this case, when the driving situation is not traffic congestion and the driving road is not an expressway, the control unit 70 may reduce the FOV of the camera 10.

Further, when the traveling situation is not traffic congestion and the traveling road is an expressway, the control unit 70 may determine whether the vehicle speed detected by the vehicle speed detection unit 30 is equal to or greater than a preset threshold speed and control the FOV of the camera 10 according to the determination result. That is, the control unit 70 may enlarge the FOV of the camera 10 when the driving situation is not traffic congestion, the driving road is an expressway, and the vehicle speed is equal to or greater than the threshold speed, and the control unit 70 may reduce the FOV of the camera 10 when the driving situation is not traffic congestion, the driving road is an expressway, and the vehicle speed is less than the threshold speed.

The threshold speed may indicate a reference speed for controlling the FOV of the camera 10. The reason why the control unit 70 controls the FOV of the camera 10 even if the travel road is an expressway is that: the vehicle speed can be reduced even if the travel road is an expressway.

The control unit 70 may control the brake pressure of the brake to a preset brake state in a stepwise manner through the emergency brake control module 60 according to whether to expand or contract the FOV of the camera 10.

When the FOV of the camera 10 is reduced, the control unit 70 may control the brake pressure of the brake to a preset brake state by controlling the brake pressure adjustment unit 62 based on the current brake pressure. For example, the brake pressure adjusting unit 62 may increase the brake pressure by one level. On the other hand, when expanding the FOV of the camera 10, the control unit 70 may control the brake pressure of the brake to a preset brake state based on the current brake pressure control brake pressure adjustment unit 62. For example, the brake pressure adjusting unit 62 may reduce the brake pressure by one level.

After controlling the brake pressure adjusting unit 62 to increase the brake pressure of the brakes to a preset braking state based on the current brake pressure, the control unit 70 may detect a collision risk based on the vehicle speed detected by the vehicle speed detecting unit 30 and the front target detected by the front target detecting unit, and the control unit 70 may control the brake pressure adjusting unit 62 to additionally increase the brake pressure of the brakes according to the collision risk.

For example, when the collision risk is equal to or greater than a preset reference collision risk, the control unit 70 may control the brake pressure adjusting unit 62 to additionally increase the brake pressure of the brakes.

When calculating the collision risk, the control unit 70 may classify the pedestrian into a child and an adult and apply weights to the child and the adult, respectively. At this time, the control unit 70 may apply a higher weight to the child than the adult, and thus the calculated collision risk of the child is a higher value than that of the adult even with the same distance, position, or vehicle speed.

When a forward object or a pedestrian is present in front of the vehicle, the control unit 70 may control the emergency brake unit 63 to output a step alarm, and the control unit 70 operates the brake when the driver does not press the brake pedal even after the step alarm is output, or when the time required for the driver to take action is shorter than a specified time even without outputting the step alarm in the case where the forward object is present in front of the vehicle. Thus, in an emergency, the vehicle can be stopped even if the driver does not operate the brake.

Hereinafter, an emergency brake preparation method for a vehicle according to an embodiment of the present invention will be described in detail with reference to fig. 4.

Fig. 4 is a flowchart illustrating an emergency brake preparation method for a vehicle according to an embodiment of the present invention.

Referring to fig. 4, the camera 10 may photograph a situation ahead of the vehicle in step S100, the surrounding environment detecting unit 20 may detect the surrounding environment of the vehicle, for example, the number of pedestrians or ahead targets, from information detected by the camera 10 or the radar sensor 22, and the vehicle speed detecting unit 30 may detect the speed of the vehicle.

When the travel speed, the travel road, and the travel environment are detected, the control unit 70 may determine whether the travel situation is traffic congestion based on the numbers of the moving targets and the stationary targets detected by the front target detection unit at step S102. In this case, the control unit 70 may determine that the driving situation is traffic congestion when the number of moving targets detected by the surrounding environment detecting unit 20 is equal to or greater than a preset moving target threshold value, or the number of stationary targets is equal to or greater than a preset stationary target threshold value.

When the determination result in step S102 indicates that the driving situation is traffic congestion, the control unit 70 may determine whether the pedestrian information satisfies a preset pedestrian condition in step S104. In this case, the control unit 70 may determine that the pedestrian condition is satisfied when the number of pedestrians is equal to or greater than a preset threshold value, or the exposure time of the pedestrians is equal to or greater than a preset threshold time.

When the determination result in step S104 indicates that the pedestrian information satisfies the pedestrian condition, the control unit 70 may reduce the FOV of the camera 10 in step S114. On the other hand, when the determination result in step S104 indicates that the pedestrian information does not satisfy the pedestrian condition, the control unit 70 may expand the FOV of the camera 10 in step S106.

When the determination result in step S102 indicates that the travel situation is not traffic congestion, the control unit 70 may determine whether the travel road is an expressway in step S110.

When the determination result in step S110 indicates that the traveling road is not an expressway but a general road, the control unit 70 may reduce the FOV of the camera 10 in step S114.

On the other hand, when the determination result in step S110 indicates that the travel road is an expressway, the control unit 70 may determine whether the vehicle speed detected by the vehicle speed detection unit 30 is equal to or greater than a preset threshold speed in step S112. When the determination result in step S112 indicates that the vehicle speed is equal to or greater than the threshold speed, the control unit 70 may expand the FOV of the camera 10 in step S106. On the other hand, when the determination result in step S112 indicates that the vehicle speed is less than the threshold speed, the control unit 70 may reduce the FOV of the camera 10 in step S114.

After reducing the FOV of the camera 10 in step S114, the control unit 70 may control the brake pressure adjusting unit 62 to adjust the brake pressure of the brake to a preset brake state based on the current brake pressure in step S116. For example, the brake pressure adjusting unit 62 may increase the brake pressure of the brake by one level.

After controlling the brake pressure adjusting unit 62 to increase the brake pressure to the preset brake state based on the current brake pressure, the control unit 70 may calculate a collision risk based on the vehicle speed detected by the vehicle speed detecting unit 30 and the front target detected by the front target detecting unit, and determine whether the calculated collision risk is equal to or greater than a preset reference collision risk at step S118. In this case, the control unit 70 may apply a higher weight to the child than the adult, so that the calculated collision risk of the child is a higher value than that of the adult even at the same distance, position, or vehicle speed.

When the determination result in step S118 indicates that the collision risk is equal to or greater than the preset reference collision risk, the control unit 70 may control the brake pressure adjusting unit 62 to additionally increase the brake pressure of the brakes in step S120.

When a forward object or a pedestrian is present in front of the vehicle, the control unit 70 may control the emergency brake unit 63 to output a step alarm, and the control unit 70 may operate the brake when the time required for the driver to take action is shorter than a specified action time even if the driver does not press the brake pedal after the step alarm is output, or in the case where the forward object is present in front of the vehicle, even if the step alarm is not output. Thus, in an emergency, the vehicle can be stopped even if the driver does not operate the brake.

After expanding the FOV of the camera 10 in step S106, the control unit 70 may control the brake pressure adjusting unit 62 to adjust the brake pressure of the brake to a preset brake state based on the current brake pressure in step S108. For example, the brake pressure adjusting unit 62 may reduce the brake pressure of the brake by one level.

As described above, the emergency brake preparation apparatus for a vehicle according to the embodiment of the present invention can remove the limitation of the FOV of the camera by adjusting the FOV of the camera according to the traveling speed, the traveling road, and the traveling environment of the vehicle. The emergency brake preparation device can then control the brake pressure in a stepwise manner based on the FOV, thereby improving the performance of the emergency brake assist system.

Although the preferred embodiments of the present disclosure have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.