阅读说明：本技术 警告状态调整装置和方法 (Warning state adjustment device and method ) 是由 姜恩奭 于 2019-09-09 设计创作，主要内容包括：一种警告状态调整装置可包括：处理器,被配置为使用目标车辆的行驶信息来确定自我车辆的停车方向是第一方向还是第二方向；和当所述自我车辆的停车方向是第一方向时维持后交叉碰撞警告(RCCW)系统的预设警告状态,并且当所述自我车辆的停车方向是第二方向时,改变RCCW系统的警告状态。(An alert condition adjustment apparatus may include: a processor configured to determine whether a parking direction of the ego vehicle is a first direction or a second direction using travel information of the target vehicle; and maintaining a preset warning state of a Rear Cross Collision Warning (RCCW) system when the parking direction of the ego-vehicle is a first direction, and changing the warning state of the RCCW system when the parking direction of the ego-vehicle is a second direction.)

1. An alert condition adjustment apparatus comprising a processor configured to:

calculating an entrance angle of an ego-vehicle into a parking space with respect to a preset reference axis, and compensating detection information of the ego-vehicle included in a warning state of a preset rear cross-collision warning system by the entrance angle; and

changing the reference detection information included in the warning state of the rear cross-collision warning system to the compensation detection information.

2. The warning state adjustment apparatus according to claim 1, further comprising:

a radar module configured to receive a radar signal reflected from a target vehicle and detect the target vehicle.

3. The warning state adjustment apparatus according to claim 2, wherein the processor calculates the entrance angle of the ego-vehicle into the parking space using the following equation,

wherein V_X'represents a horizontal axis speed of the target vehicle with respect to a horizontal axis of the radar, and' V_Y' represents the vertical axis speed of the target vehicle relative to the vertical axis of the radar.

4. The warning state adjustment apparatus of claim 1, wherein the processor calculates the compensation horizontal distance information X using the following equation_CCompensating for vertical distance information Y_CCompensating horizontal axis velocity V_XCAnd compensating for vertical axis velocity V_YCThis is achieved by compensating the detection information of the ego-vehicle by the entry angle, wherein the detection information of the ego-vehicle includes horizontal distance information X, vertical distance information Y, horizontal axis speed V_XAnd vertical axis velocity V_Y，

5. The warning state adjustment apparatus of claim 4, wherein the processor uses the compensation waterFlat distance information X_CThe compensated vertical distance information Y_CThe compensated horizontal axis velocity V_XCSaid compensated vertical axis velocity V_YCTo compensate for one or more of: an estimated time of collision of a target vehicle with the ego-vehicle, a point of collision of the target vehicle with the ego-vehicle, and an angle of the target vehicle.

6. The alert state adjustment apparatus of claim 1, wherein the processor is further configured to:

determining a parking direction of the ego-vehicle using travel information of a target vehicle,

wherein the processor changes or maintains a warning state of the rear cross-collision warning system based on a parking direction of the ego-vehicle.

7. A warning condition adjustment method, comprising:

calculating, by a processor, an entry angle of the ego vehicle into the parking space relative to a preset reference axis;

compensating, by the processor, detection information of the ego-vehicle included in a warning state of a preset rear cross-collision warning system through the entrance angle; and

changing, by the processor, reference detection information included in a warning state of the rear cross-collision warning system to compensation detection information.

8. The warning state adjustment method according to claim 7, further comprising:

comparing a preset reference axis with a radar axis generated by a received radar signal reflected from the target vehicle in response to a radar signal transmitted from a radar sensor installed in the ego vehicle before calculating the entrance angle; and

determining a parking direction of the ego-vehicle based on a result of the comparison of the reference axis and the radar axis,

wherein changing the reference detection information includes changing or maintaining a warning state of the rear cross collision warning system based on a parking direction of the ego-vehicle.

9. The warning state adjustment method according to claim 8, wherein the processor calculates the entrance angle of the ego-vehicle into the parking space using the following equation in calculating the entrance angle,

wherein V_X'represents a horizontal axis speed of the target vehicle with respect to a horizontal axis of the radar, and' V_Y' represents the vertical axis speed of the target vehicle relative to the vertical axis of the radar.

10. The warning state adjustment method according to claim 7, wherein the processor calculates compensation horizontal distance information X using the following equation when compensating the detection information_CCompensating for vertical distance information Y_CCompensating horizontal axis velocity V_XCAnd compensating for vertical axis velocity V_YCThis is achieved by compensating the detection information of the ego-vehicle by the entry angle, wherein the detection information of the ego-vehicle includes horizontal distance information X, vertical distance information Y, horizontal axis speed V_XAnd vertical axis velocity V_Y，

11. The alert state adjustment method according to claim 10, wherein the processor uses the reference detection information when changing the reference detection informationThe compensation horizontal distance information X_CThe compensated vertical distance information Y_CThe compensated horizontal axis velocity V_XCSaid compensated vertical axis velocity V_YCTo compensate for one or more of: an estimated time of collision of a target vehicle with the ego-vehicle, a point of collision of the target vehicle with the ego-vehicle, and an angle of the target vehicle.

Technical Field

The present disclosure relates to an apparatus and method for adjusting an alert state in a Rear Cross Collision Warning (RCCW) system.

Background

Typically, a vehicle has a radar sensor mounted at its rear and configured to sense an obstacle or object, and thus a following vehicle. Based on the data sensed by the radar sensor, the RCCW system senses another vehicle or obstacle while the vehicle is driven or parked. When the vehicle approaches a location where a collision is likely to occur, the RCCW system outputs a predetermined warning signal to the driver so that the driver can safely drive the vehicle.

The related art is technical information that the present disclosure person retains for the purpose of obtaining the present disclosure, or technical information obtained in the course of deriving the present disclosure. The related art is not necessarily a publicly known art that is published prior to the present disclosure.

[ related art documents ]

[ patent document ]

(patent document 1) korean patent application publication No. 2014-0093358.

Disclosure of Invention

Embodiments of the present disclosure relate to a warning state adjustment apparatus and method that can prevent a situation in which an RCCW system does not issue a warning when a vehicle is parked in an inclined direction.

Further, embodiments of the present disclosure relate to a warning state adjustment apparatus and method that can prevent a situation in which a warning of an RCCW system is delayed when a vehicle is parked in an inclined direction.

In one embodiment, the alert state adjustment apparatus may include a processor configured to: determining whether a parking direction of the ego-vehicle is a first direction or a second direction using the travel information of the target vehicle; and maintaining a preset warning state of a Rear Cross Collision Warning (RCCW) system when the parking direction of the ego-vehicle is a first direction, and changing the warning state of the RCCW system when the parking direction of the ego-vehicle is a second direction.

The processor determines a parking direction of the ego-vehicle by comparing a preset reference axis with a radar axis generated by a radar signal reflected from the target vehicle in response to a radar signal transmitted by a radar sensor installed in the ego-vehicle. The processor may determine that the parking direction of the ego-vehicle is the first direction when the comparison result indicates that the radar axis is similar to the reference axis, and determine that the parking direction of the ego-vehicle is the second direction when the comparison result indicates that the radar axis is different from the reference axis.

The processor may be further configured to calculate an entrance angle of the ego-vehicle into a parking space in the second direction with respect to the reference axis, and compensate detection information of the ego-vehicle included in a warning state of the RCCW system by the entrance angle.

In another embodiment, the warning state adjustment method may include: determining, by a processor, whether a parking direction of the ego vehicle is a first direction or a second direction using travel information of the target vehicle; maintaining, by the processor, a preset warning state of an RCCW system when the parking direction of the ego-vehicle is the first direction, and changing the warning state of the RCCW system when the parking direction of the ego-vehicle is the second direction.

The determining whether the parking direction of the ego-vehicle is the first direction or the second direction may include: comparing a preset reference axis with a radar axis generated by a radar signal reflected from the target vehicle in response to a radar signal transmitted from a radar sensor installed in the ego vehicle; and determining a parking direction of the ego-vehicle according to a comparison result of comparing the preset reference axis with the radar axis.

The determining the parking direction of the ego-vehicle may include: determining that a parking direction of the ego-vehicle is the first direction when the radar axis and the reference axis are similar to each other; determining that the parking direction of the ego-vehicle is the second direction when the radar axis and the reference axis are different from each other.

The warning state adjustment method may further include: calculating, by the processor, an entry angle of the ego-vehicle into a parking space in the second direction relative to the reference axis; and compensating, by the processor, detection information of the ego-vehicle included in a warning state of the RCCW system through the entrance angle.

In still another embodiment, there is provided a computer program stored in a computer-readable recording medium for executing the warning state adjustment method using a computer.

According to the embodiments of the present disclosure, the warning state adjustment apparatus and method may prevent a situation in which the RCCW system does not issue a warning when the vehicle is parked in an inclined direction.

Further, the warning state adjustment apparatus and method can prevent a situation in which the warning of the RCCW system is delayed when the vehicle is parked in an inclined direction.

Drawings

Fig. 1 is a diagram schematically illustrating a warning state adjustment apparatus according to an embodiment of the present disclosure.

Fig. 2 shows diagrams (a) and (b) schematically illustrating a parking direction of an ego-vehicle including the warning state adjustment apparatus of fig. 1.

Fig. 3 shows graphs (a) and (b) schematically showing detection information depending on a parking direction of the ego-vehicle including the warning state adjustment apparatus of fig. 1.

Fig. 4 is a flowchart illustrating an alert state adjustment method according to an embodiment of the present disclosure.

Detailed Description

The present disclosure now will be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the disclosure are shown. This disclosure may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and will fully convey the scope of the disclosure to those skilled in the art. Like reference symbols in the various drawings indicate like elements.

Various advantages and features of the present disclosure and methods of accomplishing the same will become apparent from the following description of the embodiments with reference to the accompanying drawings. However, the present disclosure is not limited to the embodiments set forth herein, but may be embodied in many different forms. The embodiments of the present disclosure may be provided so that the disclosure of the present disclosure is complete and will fully convey the scope of the present disclosure to those skilled in the art, and therefore the present disclosure will be defined within the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless otherwise defined, it is to be understood that all terms (including technical and scientific terms) used in the specification have the same meaning as terms understood by those skilled in the art. Furthermore, unless explicitly defined otherwise, terms commonly used as defined by a dictionary should not be ideally or excessively formally defined. It is to be understood that for purposes of this disclosure, "at least one of X, Y and Z" can be interpreted as X only, Y only, Z, or any combination of two or more of X, Y and Z (e.g., XYZ, XYY, YZ, ZZ). Unless specifically stated to the contrary, the terms "comprising," "configuring," "having," and the like, as used herein, are to be understood as implying that the described components are included, and therefore should be interpreted as including other components, rather than excluding any other elements.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Some example embodiments may be illustrated in the figures as functional blocks, units and/or modules, as is conventional in the relevant art. Those of ordinary skill in the art will appreciate that the blocks, units and/or modules are physically implemented via electrical (or optical) circuits (e.g., logic circuits, discrete components, processors, hardwired circuits, memory elements, wired connections, etc.). When the blocks, units, and/or modules are implemented by a processor or similar hardware, they may be programmed and controlled using software (e.g., code) to perform the various functions discussed herein. Alternatively, each block, unit and/or module may be implemented by dedicated hardware, or as a combination of dedicated hardware and a processor (e.g., one or more programmed processors and associated circuitry) that performs certain functions, to perform other functions. Each block, unit and/or module of some example embodiments may be physically separated into two or more interactive and discrete blocks, units and/or modules without departing from the scope of the disclosed concept. Furthermore, the blocks, units and/or modules of some example embodiments may be physically combined into more complex blocks, units and/or modules without departing from the scope of the disclosed concept.

Hereinafter, a warning state adjustment apparatus and method according to an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. It should be noted that the drawings are not to precise scale, and the thickness of lines or the size of components may be exaggerated for convenience and clarity of description. Further, terms used herein are defined by considering functions of the present disclosure, and may be changed according to custom or intention of a user or operator. Therefore, the definition of terms should be made in accordance with the general disclosure described herein.

The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. Unless otherwise stated to the contrary, singular terms may include the plural. In the present application, the meaning of "including" or "having" merely specifies an attribute, a number, a step, an operation, a component, a part, or a combination thereof, and does not exclude one or more other attributes, numbers, steps, operations, components, parts, or combinations thereof. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. These terms are only used to distinguish one element from another.

Fig. 1 is a diagram schematically illustrating a warning state adjustment apparatus according to an embodiment of the present disclosure. Fig. 2 shows a diagram schematically illustrating a parking direction of an ego-vehicle including the warning state adjustment apparatus of fig. 1. Fig. 3 shows a diagram schematically illustrating detection information depending on a parking direction of an ego-vehicle including the warning state adjustment apparatus of fig. 1.

As shown in fig. 1, the warning state adjustment apparatus 1 may include a radar module 110, a warning module 120, a storage unit 130, and a processor 140. The warning state adjustment device 1 may be installed in vehicles (the ego-vehicle 100 and the target vehicle 200 of fig. 2). Hereinafter, for convenience of description, description will be made assuming that the warning state adjustment device 1 is installed in the ego-vehicle 100 of fig. 2.

The radar module 110 may be mounted at one or more of the front, rear, and/or sides of the ego-vehicle 100 and detect a target vehicle 200, the target vehicle 200 being present at one or more of the front, rear, and/or sides of the ego-vehicle 100. The radar module 110 may transmit radar signals to the target vehicle 200, receive radar signals reflected from the target vehicle 200 in response to the transmitted radar signals, and transmit the received radar signals to the processor 140. Processor 140 may generate the predetermined information using the radar signal received from radar module 110.

The warning module 120 may be used to issue a warning to a driver driving the ego-vehicle 100. In one embodiment, the warning module 120 may issue a warning through various methods such as a visual method, an audible method, and a tactile method. In one embodiment, the warning module 120 may display a warning on an instrument panel of the driver's seat, a heads-up display, a navigation system, an integrated information display device, or the like. In another embodiment, the warning module 120 may issue a warning through a speaker of the ego-vehicle 100. In yet another embodiment, the warning module 120 may warn the driver by vibrating the steering wheel of the ego-vehicle 100 or tightening a safety belt. In response to the warning output signal from the processor 140, the warning module 120 may output a warning to an extent that enables a driver of the ego vehicle 100 to recognize the warning.

The storage unit 130 may store various programs or data while interacting with the processor 140. The storage unit 130 may store a program required for the warning state adjustment apparatus 1 to output a warning according to the rear cross-collision risk. In one embodiment, the storage unit 130 may store reference axis (X-axis, Y-axis) information indicating a first direction as a direction in which the ego vehicle 100 is vertically parked. In another embodiment, the storage unit 130 may store the reference detection information as an alarm state in which the RCCW system may be operated to output an alarm. For example, the reference detection information may include a reference horizontal axis distance, a reference vertical axis distance, a reference horizontal axis speed, a reference vertical axis speed, a reference collision estimation time, a reference collision point, and the like. When the determination result of the processor 140 indicates that the information received from the target vehicle 200 satisfies the reference detection information, a warning may be output.

The storage unit 130 may also include a high-speed random access memory. Storage unit 130 may include one or more non-volatile storage devices, such as magnetic disk storage devices, flash memory devices, and other non-volatile solid-state storage devices. However, the scope of the present disclosure is not limited thereto, and the storage unit 130 may include a readable storage medium. For example, the storage unit 130 may include an EEP-ROM (electrically erasable programmable read Only memory), although the scope of the present disclosure is not limited thereto. During operation of the processor 140, the EEP-ROM may write and erase information under the control of the processor 140. The EEP-ROM may be a memory device that does not lose information stored therein but retains the information even if the power supply is cut off due to a power outage.

The processor 140 may generate the detection information using information about a time when the radar module 110 transmits the radar signal and information about a time when the processor 140 receives the radar signal reflected from the target vehicle 200. The detection information may include one or more of the following: horizontal distance information and vertical distance information from the ego-vehicle 100 to the target vehicle 200, horizontal axis speed and vertical axis speed of the target vehicle 200, estimated time of collision at which the target vehicle 200 will collide with the ego-vehicle 100, collision point of the target vehicle 200 with the ego-vehicle 100, and angle of the target vehicle 200.

The processor 140 may determine whether the parking direction of the ego-vehicle 100 is the first direction or the second direction using the traveling information of the target vehicle 200. The processor 140 may maintain a preset warning state of the RCCW system when the parking direction of the ego-vehicle 100 is a first direction, and change the warning state of the RCCW system when the parking direction of the ego-vehicle 100 is a second direction.

In the present embodiment, the processor 140 serving as a kind of CPU (Central Processing Unit) can provide various functions by driving control software stored in the storage Unit 130. The processor 140 may include various devices, such as a processor, capable of processing data. A "processor" herein may refer to a data processing apparatus having physically structured circuits to perform functions represented as codes or commands included in programs and embedded in hardware. Examples of data processing devices embedded in hardware may include a microprocessor, a CPU, a processor core, a multiprocessor, an ASIC (Application-Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), and so on, although the scope of the present disclosure is not limited in this respect.

In the present embodiment, the processor 140 may include a determination unit 141, a change unit 142, and a compensation unit 143.

The determination unit 141 may compare the reference axis stored in the storage unit 130 with a radar axis generated from the radar signal reflected from the target vehicle 200 in response to the radar signal transmitted from the radar module 110. The determination unit 141 may determine that the parking direction of the ego-vehicle 100 is the first direction when the radar axis and the reference axis are similar to each other, and determine that the parking direction of the ego-vehicle 100 is the second direction when the radar axis and the reference axis are different from each other. The first direction may indicate that the ego-vehicle 100 is parked vertically as shown in (a) of fig. 2, and the second direction may indicate that the ego-vehicle 100 is parked in a non-vertical direction as shown in (b) of fig. 2. That is, in the present embodiment, the first direction may include a vertical direction, and the second direction may include a non-vertical direction (e.g., an oblique direction or a diagonal direction).

The changing unit 142 may maintain the warning state of the RCCW system stored in the storage unit 130 when the determination result of the determining unit 141 indicates that the parking direction of the ego-vehicle 100 is the first direction, and change the warning state of the RCCW system when the parking direction of the ego-vehicle 100 is the second direction.

Recently, parking spaces have been designed in various ways. For example, the parking spaces may include not only the first-direction parking spaces shown in (a) of fig. 2 but also the second-direction parking spaces shown in (b) of fig. 2 like a highway rest area. Typically, RCCW systems are designed based on first direction parking spaces. Therefore, when the ego-vehicle 100 is stopped in the first direction, the detection information may be almost similar to the reference detection information shown in (a) of fig. 3. However, when the ego-vehicle 100 is stopped in the second direction, the detection information may be different from the reference detection information. Therefore, although there are obstacles and/or target vehicles 200 around the ego-vehicle 100, the warning may not be issued or the warning may not be issued on time but later. Further, even when the ego-vehicle 100 is stopped in the first direction, the RCCW system may not actually perform a normal function because the rear portion of the ego-vehicle 100 faces a wall surface in many cases. Accordingly, the processor 140 may adjust the warning state by analyzing a detection tendency of the radar module 110 when parking in the second direction, thereby ensuring stability of parking in the second direction.

In order to change the warning state of the RCCW system when the parking direction of the ego-vehicle 100 is the second direction, the compensation unit 143 may calculate an entrance angle θ of the ego-vehicle 100 into the parking space in the second direction with respect to the reference axis, and compensate detection information of the ego-vehicle 100 by the entrance angle θ, the detection information being included in the warning state of the RCCW system stored in the storage unit 130.

The compensation unit 143 may calculate the entering angle θ of the ego-vehicle 100 into the parking space with respect to the reference axis using the following equation 1.

[ equation 1]

In equation 1, V_XMay represent the horizontal axis speed of the target vehicle 200 with respect to the radar horizontal axis of the second direction, and V_YWatch capable of showingThe vertical axis velocity of the target vehicle 200 relative to the vertical axis of the radar in the second direction is shown.

When the calculation of the entrance angle θ of the ego-vehicle 100 is completed, the compensation unit 143 may compensate the detection information of the ego-vehicle 100 by the entrance angle θ. The compensation goals may include: among the detection information of the ego-vehicle 100, horizontal distance information X and vertical distance information Y from the ego-vehicle 100 to the target vehicle 200 and horizontal axis speed V of the target vehicle 200_XAnd vertical axis velocity V_Y. Other detection information, for example, a collision estimated time at which the target vehicle 200 will collide with the ego-vehicle, a collision point of the target vehicle 200 with the ego-vehicle 100, and an angle of the target vehicle 200 that can be calculated by the compensation target.

The compensation unit 143 may calculate the compensated horizontal distance information X by the following equation 2 based on the horizontal distance information X and the vertical distance information Y from the ego-vehicle 100 to the target vehicle 200_CAnd compensate for vertical distance information Y_C. And the compensating unit 143 may be based on the horizontal axis speed V of the target vehicle 200_XAnd vertical axis velocity V_YThe compensated horizontal axis velocity V is calculated by the following equation 2_XCAnd compensating for vertical axis velocity V_YC。

[ equation 2]

When the compensation of the compensation target by the entry angle θ is completed, the changing unit 142 may use the compensation horizontal distance information X_CAnd compensate for vertical distance information Y_CAnd compensating for horizontal axis velocity V_XCAnd compensating for vertical axis velocity V_YCTo compensate for one or more of other detected information such as the estimated time of collision of the target vehicle 200 with the ego-vehicle 100, the point of collision of the target vehicle 200 with the ego-vehicle 100, and the angle of the target vehicle 200.

The changing unit 142 may change the reference detection information included in the reference warning state of the RCCW system stored in the storage unit 130 to the compensation detection information compensated by the entrance angle θ, or separately store the compensation detection information.

Since the warning state of the RCCW system is adaptively changed by the above-described operation according to the parking direction of the ego-vehicle 100, it is possible to prevent an abnormal situation that may occur when the ego-vehicle 100 is parked in an inclined direction, such as a situation in which the RCCW system warning is not issued or the RCCW system warning is delayed.

Fig. 4 is a flowchart illustrating an alert state adjustment method according to an embodiment of the present disclosure. The description of contents overlapping with the description of fig. 1 to 3 hereinafter will be omitted herein.

Referring to fig. 4, in step S410, the warning state adjustment device 1 may determine whether the parking direction of the ego-vehicle 100 is the first direction or the second direction using the travel information of the target vehicle 200.

The warning state adjustment apparatus 1 may compare the reference axis stored in the storage unit 130 with a radar axis generated by a radar signal reflected from the target vehicle 200 in response to a radar signal transmitted from the radar module 110. The warning state adjustment device 1 may determine that the parking direction of the ego-vehicle 100 is the first direction when the radar axis and the reference axis are similar to each other, and determine that the parking direction of the ego-vehicle 100 is the second direction when the radar axis and the reference axis are different from each other.

In steps S420 and S430, when the determination result indicates that the parking direction of the ego-vehicle 100 is the first direction, the warning state adjustment device 1 may maintain the preset warning state of the RCCW system stored in the storage unit 130.

In steps S440 and S450, when the determination result indicates that the parking direction of the ego-vehicle 100 is the second direction, the warning state adjustment device 1 may calculate the entrance angle θ of the ego-vehicle 100 into the parking space in the second direction with respect to the reference axis by equation 1 above.

In step S460, when the calculation of the entry angle θ is completed, the warning state adjustment device 1 may compensate the detection information of the ego-vehicle 100 included in the warning state of the RCCW system by the entry angle θ.

The compensation goals may include: among the detection information of the ego-vehicle 100, horizontal distance information X and vertical distance information Y from the ego-vehicle 100 to the target vehicle 200 and horizontal axis speed V of the target vehicle 200_XAnd vertical axis velocity V_Y. Other detection information, for example, a collision estimated time at which the target vehicle 200 will collide with the ego-vehicle, a collision point of the target vehicle 200 with the ego-vehicle 100, and an angle of the target vehicle 200 that can be calculated by the compensation target.

The warning state adjustment apparatus 1 can calculate the compensation horizontal distance information X using the above equation 2_CAnd compensate for vertical distance information Y_CAnd compensating for horizontal axis velocity V_XCAnd compensating for vertical axis velocity V_YCAnd using said compensated horizontal distance information X_CAnd compensate for vertical distance information Y_CAnd compensating for horizontal axis velocity V_XCAnd compensating for vertical axis velocity V_YCTo compensate for one or more of other detected information such as the estimated time of collision of the target vehicle 200 with the ego-vehicle 100, the point of collision of the target vehicle 200 with the ego-vehicle 100, and the angle of the target vehicle 200.

In step S470, the warning state adjustment device 1 may change the warning state of the RCCW system to the compensation warning state.

The above-described embodiments of the present disclosure may be implemented in the form of a computer program that can be executed on a computer by various components, and the computer program may be recorded in a computer-readable medium. In this case, the medium may include, for example, a hard disk, a floppy disk or a magnetic tape, an optical storage medium (such as a CD-ROM or a DVD), a magneto-optical medium (such as an optical disk), a hardware device (such as a ROM, a RAM, or a flash memory), and is specifically configured to store and execute the program command.

Computer programs may include available programs that are specifically designed and configured for the present disclosure or are known to those skilled in the art of computer software. Examples of computer programs may include high-level language code that can be executed by a computer through an interpreter, and machine language code that is generated by a compiler.

In the description of the present disclosure (or in particular the claims), the use of the term "said" and reference terms like "said" may correspond to the singular and the plural. Further, when a range is described in the present disclosure, it may be indicated that the present disclosure includes an embodiment to which each value belonging to the range is applied (unless otherwise indicated), and each value constituting the range is described in the detailed description of the present disclosure.

When the order of steps is explicitly specified or unless otherwise indicated, the steps constituting the method according to the embodiments of the present disclosure may be performed in an appropriate order. The present disclosure is not limited to the order of the steps. In the present disclosure, all examples or exemplary terms (e.g., and, etc.) are used simply to describe the disclosure in detail. The scope of the present disclosure is not limited by the examples or exemplary terms, as long as the scope of the present disclosure is not limited by the claims. Further, it is apparent to those skilled in the art that various modifications, combinations, and changes may be made in accordance with design conditions and factors within the scope of claims or equivalents.

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 disclosure as defined in the accompanying claims.