Vehicle control apparatus and vehicle control method

This application claims the benefit of Korean Patent Application No. 2017-0086210, filed on Jul. 7, 2017 in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference.

1. Technical Field

The present disclosure relates to a vehicle control apparatus and a vehicle control method.

2. Description of the Related Art

Generally, conventional driver carelessness warning apparatuses were provided to sense and warn of a driver's carelessness state such as fatigue or drowsiness driving according to the driver's long-time driving.

For example, as described in Korean Patent Registration No. 10-1500010 (Mar. 2, 2015), there was disclosed a driver drowsiness and fatigue sensing system which can properly warn a driver exposed to a dangerous situation by sensing drowsiness or fatigue using the drivers state and the drivers response characteristics.

However, the conventional driver drowsiness and fatigue sensing system has limitations in efficiently improving the warning operation of a warning apparatus, in reducing a false warning rate while warning that a driver is currently in a careless driving state within a proper time, and in effectively preventing the occurrence of a traffic accident in advance.

Therefore, in recent years, research on an improved vehicle control apparatus and an improved vehicle control method for efficiently improving the warning operation of a warning apparatus, reducing a false warning rate while warning that a driver is currently in a careless driving state within a proper time, and effectively preventing the occurrence of a traffic accident in advance have been continuously carried out.

It is an aspect of the present disclosure to provide a vehicle control apparatus and a vehicle control method capable of efficiently improving a warning operation of a warning apparatus.

Further, it is an aspect of the present disclosure to provide a vehicle control apparatus and a vehicle control method capable of reducing a false warning rate while warning that a driver is currently in a careless driving state within a proper time.

Further, it is an aspect of the present disclosure to provide a vehicle control apparatus and a vehicle control method capable of effectively preventing the occurrence of a traffic accident in advance.

Additional aspects of the present disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

In accordance with an aspect of the present disclosure, there may be provided a vehicle control apparatus including an input unit to receive current lane information, current traffic sign information, and current driver behavior information photographed by a photographing apparatus, a determination unit to determine whether a vehicle is in an inappropriate driving pattern based on the inputted current lane information and the current traffic sign information and to determine whether a driver is in a driver carelessness state based on the inputted current driver behavior information, and a controller to transmit a warning command to a warning apparatus so that the warning apparatus warns the driver that the driver is currently in a careless driving slate if the vehicle is in the inappropriate driving pattern and the driver is in the driver carelessness state.

In accordance with an aspect of the present disclosure, the controller may further count the frequency of occurrence of the inappropriate driving pattern for a predetermined time if it is determined that the vehicle is in a state in which the inappropriate driving pattern has started to occur and further calculate and update a driver carelessness state determination rime for performing the warning operation of the warning apparatus using the inappropriate driving pattern counted for the predetermined rime and the frequency of warning occurrence of the warning apparatus for the predetermined time, and may further transmit a warning command to the warning apparatus so as to warn the driver of the warning operation of the warning apparatus if the duration of the driver carelessness state is greater than the calculated driver carelessness state determination time.

In accordance with an aspect of the present disclosure, the driver carelessness state determination time may be calculated using an initial driver carelessness state determination time set to an initial default value of the controller, a first weighted value applied in correspondence with the frequency of occurrence of the inappropriate driving pattern for the predetermined rime, and a second weighted value applied in correspondence with the frequency of warning occurrence of the warning apparatus for the predetermined time.

In accordance with an aspect of the present disclosure, the controller may further transmit a vehicle attitude control command to an electronic stability control (ESC) apparatus so that the ESC apparatus controls the vehicle attitude in accordance with the lane if the vehicle is in the inappropriate driving pattern and the driver is in the driver carelessness state.

In accordance with an aspect of the present disclosure, the controller may further transmit a speed regulation command to a speed regulation apparatus so that the speed regulation apparatus regulates the speed in accordance with a target speed if the vehicle is in the inappropriate driving pattern and the driver is in the driver carelessness state.

In accordance with an aspect of the present disclosure, the controller may further transmit a speed regulation command to a speed regulation apparatus so that the speed regulation apparatus regulates the speed in accordance with a regulation speed of the inputted current traffic sign information if the vehicle is in the inappropriate driving pattern and the driver is in the driver carelessness state.

In accordance with another aspect of the present disclosure, there may be provided a vehicle control method including steps of receiving current lane information, current traffic sign information, and current driver behavior information photographed by a photographing apparatus, determining whether a vehicle is in an inappropriate driving pattern based on the inputted current lane information and the current traffic sign information and determining whether a driver is in a driver carelessness state based on the inputted current driver behavior information, and transmitting a warning command to a warning apparatus so that the warning apparatus warns the driver that the driver is currently in the careless driving state if the vehicle is in the inappropriate driving pattern and the driver is in the driver carelessness state.

These and/or other aspects of the disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a block diagram illustrating a state in which a vehicle control apparatus according to an embodiment of the present disclosure is connected to a photographing apparatus and a warning apparatus;

FIG. 2 is a block diagram illustrating an example of the photographing apparatus and the vehicle control apparatus shown in FIG. 1 ;

FIG. 3 is a diagram illustrating a process of determining whether a vehicle is in an inappropriate driving pattern through a determination unit shown in FIG. 2 ;

FIG. 4 is a diagram illustrating a process of counting an inappropriate driving pattern for a predetermined time through a controller shown in FIG. 2 ;

FIG. 5 is a diagram illustrating a lookup table of first weighted values applied in correspondence with the frequency of occurrence of inappropriate driving patterns for a predetermined time in the controller shown in FIGS. 2 and 4 ;

FIG. 6 is a diagram illustrating a lookup table of second weighted values applied in correspondence with the frequency of warning occurrence of the warning apparatus for a predetermined time in the controller shown in FIGS. 2 and 4 ;

FIG. 7 is a flowchart illustrating an example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present disclosure;

FIG. 8 is a flowchart illustrating another example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present disclosure;

FIG. 9 is a block diagram illustrating a state in which a vehicle control apparatus according to an embodiment of the present disclosure is connected to a photographing apparatus, a warning apparatus and an ESC apparatus;

FIG. 10 is a block diagram illustrating an example of the photographing apparatus and the vehicle control apparatus shown in FIG. 9 ;

FIG. 11 is a flowchart illustrating another example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present disclosure;

FIG. 12 is a block diagram illustrating a state in which a vehicle control apparatus according to an embodiment of the present disclosure is connected to a photographing apparatus, a warning apparatus and a speed regulation apparatus;

FIG. 13 is a block diagram illustrating an example of the photographing apparatus and the vehicle control apparatus shown in FIG. 12 ;

FIG. 14 is a flowchart illustrating still another example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present disclosure; and

FIG. 15 is a flowchart illustrating still another example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present disclosure.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present disclosure to a person having ordinary skill in the art to which the present disclosure belongs. The present disclosure is not limited to the embodiments shown herein but may be embodied in other forms. The drawings are not intended to limit the scope of the present disclosure in any way, and the size of components may be exaggerated for clarity of illustration.

FIG. 1 is a block diagram illustrating a state in which a vehicle control apparatus according to an embodiment of the present disclosure is connected to a photographing apparatus and a warning apparatus, and FIG. 2 is a block diagram illustrating an example of the photographing apparatus and the vehicle control apparatus shown in FIG. 1 .

FIG. 3 is a diagram illustrating a process of determining whether a vehicle is in an inappropriate driving pattern through a determination unit shown in FIG. 2 , and FIG. 4 is a diagram illustrating a process of counting an inappropriate driving pattern for a predetermined time through a controller shown in FIG. 2 .

FIG. 5 is a diagram illustrating a lookup table of first weighted values applied in correspondence with the frequency of occurrence of inappropriate driving patterns for a predetermined time in the controller shown in FIGS. 2 and 4 , and FIG. 6 is a diagram illustrating a lookup table of second weighted values applied in correspondence with the frequency of warning occurrence of the warning apparatus for a predetermined time in the controller shown in FIGS. 2 and 4 .

Referring to FIGS. 1 and 2 , a vehicle control apparatus 100 according to an embodiment of the present disclosure includes an input unit 102 , a determination unit 104 , and a controller 106 .

The input unit 102 receives current lane information, current traffic sign information, and current driver behavior information photographed by a photographing apparatus 10 .

As an example, as shown in FIG. 2 , the input unit 102 may receive the current lane information and the current traffic sign information photographed by a first photographing unit 10 a of the photographing apparatus 10 .

For example, as shown in FIGS. 2 and 3 , the input unit 102 may receive the current lane information photographed by the first photographing unit 10 a according to a driver's lateral driving change and may receive the current lane information photographed by the first photographing unit 10 a in accordance with the driver's lane veering.

Further, the input unit 102 may receive the current lane information photographed by the first photographing unit 10 a according to sudden steering veering of the driver and may receive the current lane information photographed by the first photographing unit 10 a in accordance with the reduction of a steering wheel gripping force due to the drowsy driving of the driver.

Further, the input unit 102 may receive the regulation speed sign information corresponding to the current traffic sign information photographed by the first photographing unit 10 a in accordance with vehicle speed keeping failure due to the driver's carelessness state.

Herein, the first photographing unit 10 a may be a camera, and although not shown, may be mounted in front of a vehicle.

As another example, as shown in FIG. 2 , the input unit 102 may receive the current driver behavior information photographed by a second photographing unit 10 b of the photographing apparatus 10 .

For example, as shown in FIGS. 2 and 3 , the input unit 102 may receive the current driver behavior information photographed by the second photographing unit 10 b in accordance with a forward-looking negligent state.

The forward-looking negligent state may be at least one of a face state, a shoulder state, a movement state and an attitude state of a driver, an open/closed state of the driver's eyes, and a state in which the driver looks at a portable device.

Herein, the second photographing unit 10 b may be a camera, and although not shown, may be mounted at a position where a driver's behavior can be photographed in the interior of a vehicle.

The determination unit 104 determines whether a vehicle is in an inappropriate driving pattern according to the control of the controller 106 , which will be described later, based on the current lane information and the current traffic sign information inputted to the input unit 102 , and determines whether a driver is in a driver carelessness state according to the control of the controller 106 based on the current driver behavior information inputted to the input unit 102 .

As an example, as shown in FIG. 3 , the inappropriate driving pattern may be at least one of a zigzag driving state A, a surrounding lane crossing state B, a sudden steering veering state C, a lane tracking failure state D, and a vehicle speed keeping failure state E.

The controller 106 transmits a warning command to a warning apparatus 30 to warn the driver that the driver is currently in a careless driving state if the determination unit 104 determines that a vehicle is in an inappropriate driving pattern and the driver is in a driver carelessness state.

In addition, as shown in FIGS. 2 and 4 , the controller 106 may further count the frequency of occurrence of the inappropriate driving pattern for a predetermined time t 1 if the determination unit 104 determines that the vehicle is in a state in which the inappropriate driving pattern has started to occur.

As an example, if the determination unit 104 determines that the vehicle is in the inappropriate driving pattern, the controller 106 may count at least one of the zigzag driving state A, the surrounding lane crossing state B, the sudden steering veering state C, and the vehicle speed keeping failure state E for the predetermined time t 1 .

In addition, as shown in FIGS. 2 and 4 , the controller 106 may further calculate a driver carelessness state determination time for performing the warning operation of the warning apparatus 30 using the inappropriate driving pattern counted for the predetermined time t 1 and the frequency of warning occurrence of the warning apparatus 30 for the predetermined time t 1 .

As an example, the controller 106 may further calculate a driver carelessness state determination time for performing the warning operation of the warning apparatus 30 using at least one of the zigzag driving state A, the surrounding lane crossing state B, the sudden steering veering state C, and the vehicle speed keeping failure state E counted for the predetermined time t 1 , which are the inappropriate driving patterns, and using the frequency of warning occurrence of the warning apparatus 30 occurring after the time when the driver starts driving.

The driver carelessness state determination time, as shown in FIGS. 2 and 4 to 6 , may be calculated using an initial driver carelessness state determination time set to an initial default value of the controller 106 , a first weighted value applied in correspondence with the frequency of occurrence of the inappropriate driving pattern for the predetermined time t 1 , and a second weighted value applied in correspondence with the frequency of warning occurrence of the warning apparatus 30 for the predetermined time t 1 .

As an example, the driver carelessness state determination time may be calculated by <Equation 1> below.

T th =T int ·P D ·N A   <Equation 1>

Herein, T th may be a driver carelessness state determination time for performing the warning operation of the warning apparatus 30 , T int may be an initial driver carelessness state determination time set to an initial default value, P D may be a first weighted value applied in correspondence with the frequency of occurrence of the inappropriate driving pattern for the predetermined time t 1 , and N A may be a second weighted value applied in correspondence with the frequency of warning occurrence of the warning apparatus 30 for the predetermined time t 1 .

For example, as shown in FIGS. 2 and 4 to 6 , if an initial driver carelessness state determination time set to an initial default value is 3 seconds, an inappropriate driving pattern occurs three times within 10 minutes as the predetermined time t 1 , and a warning occurs twice after the system startup of the vehicle control apparatus, the determination time T th may be calculated as below.

T th =T int ·P D ·N A =3*0.7*0.8=1.68 sec

In addition, if the determination unit 104 determines that the duration of the driver carelessness state is greater than the calculated driver carelessness state determination time, the controller 106 may further transmit a warning command to the warning apparatus 30 so as to warn the driver of the warning operation of the warning apparatus 30 .

For example, if the determination unit 104 determines that the duration of the driver carelessness state is greater than 1.68 seconds as the calculated driver carelessness state determination time T th , the controller 106 may further transmit a warning command to the warning apparatus 30 so as to warn the driver of the warning operation of the warning apparatus 30 .

Herein, the driver carelessness state may be at least one of a face state, a shoulder state, a movement state and an attitude state of a driver, an open/closed state of the driver's eyes, and a state in which the driver looks at a portable device.

FIG. 7 is a flowchart illustrating an example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present disclosure, and FIG. 8 is a flowchart illustrating another example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present disclosure.

Referring to FIGS. 7 and 8 , vehicle control methods 700 and 800 of the vehicle control apparatus 100 (in FIG. 2 ) according to an embodiment of the present disclosure include first steps S 702 and S 802 , second steps S 704 and S 804 , and third steps S 706 and S 806 a to S 806 d.

First, in the first steps S 702 and S 802 , the current lane information, the current traffic sign information, and the current driver behavior information photographed by the photographing apparatus 10 (in FIG. 2 ) are inputted through the input unit 102 (in FIG. 2 ).

Thereafter, in the second step S 704 , the determination unit 104 determines whether a vehicle is in an inappropriate driving pattern according to the control of the controller 106 (in FIG. 2 ) based on the current lane information and the current traffic sign information inputted to the input unit 102 (in FIG. 2 ), and determines whether a driver is in a driver carelessness state according to the control of the controller 106 (in FIG. 2 ) based on the current driver behavior information inputted to the input unit 102 (in FIG. 2 ).

Thereafter, in the third step S 706 , if the determination unit 104 determines that the vehicle is in an inappropriate driving pattern and the driver is in a driver carelessness state, the controller 106 (in FIG. 2 ) transmits a warning command to the warning apparatus 30 (in FIG. 2 ) to warn the driver that the driver is currently in a careless driving state.

In addition, as shown in FIG. 8 , in the second step S 804 , the determination unit 104 according to the control of the controller 106 (in FIG. 2 ) may determine whether an inappropriate driving pattern has started to occur based on the current lane information and the current traffic sign information inputted to the input unit 102 (in FIG. 2 ).

Thereafter, in the third step S 806 a , if the determination unit 104 (in FIG. 2 ) determines that the vehicle is in a state in which the inappropriate driving pattern has started to occur, the controller 106 (in FIG. 2 ) may further count the frequency of occurrence of the inappropriate driving pattern for the predetermined time t 1 (in FIG. 4 ).

Thereafter, in the third step S 806 b , the controller 106 (in FIG. 2 ) may further calculate the driver carelessness state determination time for performing the warning operation of the warning apparatus 30 (in FIG. 2 ) using the inappropriate driving pattern counted for the predetermined time t 1 (in FIG. 4 ) and the frequency of warning occurrence of the warning apparatus 30 (in FIG. 2 ) for the predetermined time t 1 .

Thereafter, in the third steps S 806 c and S 806 d , if the determination unit 104 (in FIG. 2 ) determines that the duration of the driver carelessness state is greater than the calculated driver carelessness state determination time (S 806 c ), the controller 106 (in FIG. 2 ) may further transmit a warning command to the warning apparatus 30 (in FIG. 2 ) so as to warn the driver of the warning operation of the warning apparatus 30 (in FIG. 2 ) (S 806 d ).

FIG. 9 is a block diagram illustrating a state in which a vehicle control apparatus according to an embodiment of the present disclosure is connected to a photographing apparatus, a warning apparatus and an ESC apparatus, and FIG. 10 is a block diagram illustrating an example of the photographing apparatus and the vehicle control apparatus shown in FIG. 9 .

Referring to FIGS. 9 and 10 , a vehicle control apparatus 900 according to an embodiment of the present disclosure includes an input unit 902 , a determination unit 904 , and a controller 906 in the same manner as the vehicle control apparatus 100 (in FIG. 2 ).

The functions of the components of the vehicle control apparatus 900 according to an embodiment of the present disclosure and the connection relationship between them are the same as the functions of the components of the vehicle control device 100 (in FIG. 2 ) and the connection relationship between them. Therefore, an additional explanation therefor will be omitted.

The controller 906 of the vehicle control apparatus 900 according to an embodiment of the present disclosure may further transmit a vehicle attitude control command to an electronic stability control (ESC) apparatus 50 so that the ESC apparatus 50 controls the vehicle attitude in accordance with the lane if the determination unit 904 determines that the vehicle is in an inappropriate driving pattern and the driver is in a driver carelessness state.

FIG. 11 is a flowchart illustrating another example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present disclosure.

Referring to FIG. 11 , a vehicle control method 1100 of the vehicle control apparatus 900 (in FIGS. 9 and 10 ) according to an embodiment of the present disclosure includes a first step S 1102 , a second step S 1104 , and a third step S 1106 in the same manner as the vehicle control method 700 (in FIG. 7 ) of the vehicle control apparatus 100 (in FIGS. 1 and 2 ).

The functions of the respective steps of the vehicle control method 1100 of the vehicle control apparatus 900 (in FIGS. 9 and 10 ) according to an embodiment of the present disclosure and the connection relationship between them are the same as the functions of the respective steps of the vehicle control method 700 (in FIG. 7 ) of the vehicle control apparatus 100 (in FIGS. 1 and 2 ) and the connection relationship between them. Therefore, an additional explanation therefor will be omitted.

The vehicle control method 1100 of the vehicle control apparatus 900 (in FIGS. 9 and 11 ) according to an embodiment of the present disclosure further includes a fourth step S 1107 .

As an example, the fourth step S 1107 may be performed after the third step S 1106 .

As another example, the fourth step S 1107 , although not shown, may be performed after the second step S 1104 and before the third step S 1106 .

As still another example, the fourth step S 1107 , although not shown, may be performed in synchronization with the third step S 1106 .

In the fourth step S 1107 , if the determination unit 904 (in FIG. 9 ) determines that the vehicle is in an inappropriate driving pattern and the driver is in a driver carelessness state, the controller 906 (in FIG. 9 ) may further transmit a vehicle attitude control command to the ESC apparatus 50 (in FIG. 9 ) so that the ESC apparatus 50 (in FIG. 9 ) controls the vehicle attitude in accordance with the lane.

FIG. 12 is a block diagram illustrating a state in which a vehicle control apparatus according to an embodiment of the present disclosure is connected to a photographing apparatus, a warning apparatus and a speed regulation apparatus, and FIG. 13 is a block diagram illustrating an example of the photographing apparatus and the vehicle control apparatus shown in FIG. 12 .

Referring to FIGS. 12 and 13 , a vehicle control apparatus 1200 according to an embodiment of the present disclosure includes an input unit 1202 , a determination unit 1204 , and a controller 1206 in the same manner as the vehicle control apparatus 100 (in FIG. 2 ).

The functions of the components of the vehicle control apparatus 1200 according to an embodiment of the present disclosure and the connection relationship between them are the same as the functions of the components of the vehicle control device 100 (in FIG. 2 ) and the connection relationship between them. Therefore, an additional explanation therefor will be omitted.

The controller 1206 of the vehicle control apparatus 1200 according to an embodiment of the present disclosure may further transmit a speed regulation command to a speed regulation apparatus 70 so that the speed regulation apparatus 70 regulates the speed in accordance with a target speed if the determination unit 1204 determines that the vehicle is in an inappropriate driving pattern and the driver is in a driver carelessness state.

As an example, if the determination unit 1204 determines that the vehicle is in the inappropriate driving pattern and the driver is in the driver carelessness state, the controller 1206 may further transmit a speed regulation command to the speed regulation apparatus 70 so that the speed regulation apparatus 70 increases or decreases the speed in accordance with the set target speed for preventing a collision with another vehicle while increasing the speed in consideration of the distance from the another vehicle.

In addition, if the determination unit 1204 determines that the vehicle is in an inappropriate driving pattern and the driver is in a driver carelessness state, the controller 1206 of the vehicle control apparatus 1200 according to an embodiment of the present disclosure may further transmit a speed regulation command to the speed regulation apparatus 70 so that the speed regulation apparatus 70 regulates the speed in accordance with a regulation speed of the inputted current traffic sign information.

As an example, if the determination unit 1204 determines that the vehicle is in an inappropriate driving pattern and the driver is in a driver carelessness state, the controller 1206 of the vehicle control apparatus 1200 according to an embodiment of the present disclosure may further transmit a speed regulation command to the speed regulation apparatus 70 so that the speed regulation apparatus 70 lowers the speed to 50 km/h, which is the regulation speed of the inputted current traffic sign information.

FIG. 14 is a flowchart illustrating still another example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present disclosure, and FIG. 15 is a flowchart illustrating still another example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present disclosure.

Referring to FIGS. 14 and 15 , vehicle control methods 1400 and 1500 of the vehicle control apparatus 1200 (in FIGS. 12 and 13 ) according to an embodiment of the present disclosure include first steps S 1402 and S 1502 , second steps S 1404 and S 1504 , and third steps S 1406 and S 1506 in the same manner as the vehicle control method 700 (in FIG. 7 ) of the vehicle control apparatus 100 (in FIGS. 1 and 2 ).

The functions of the respective steps of the vehicle control methods 1400 and 1500 of the vehicle control apparatus 1200 (in FIGS. 12 and 13 ) according to an embodiment of the present disclosure and the connection relationship between them are the same as the functions of the respective steps of the vehicle control method 700 (in FIG. 7 ) of the vehicle control apparatus 100 (in FIGS. 1 and 2 ) and the connection relationship between them. Therefore, an additional explanation therefor will be omitted.

The vehicle control methods 1400 and 1500 of the vehicle control apparatus 1200 (in FIGS. 12 and 13 ) according to an embodiment of the present disclosure further include a fifth step S 1407 and a sixth step S 1507 .

As an example, the fifth step S 1407 and the sixth step S 1507 may be performed after the third steps S 1406 and S 1506 .

As another example, the fifth step S 1407 and the sixth step S 1507 , although not shown, may be performed after the second steps S 1404 and S 1504 and before the third steps S 1406 and S 1506 .

As still another example, the fifth step S 1407 and the sixth step S 1507 , although not shown, may be performed in synchronization with the third steps S 1406 and S 1506 .

In the fifth step S 1407 , if the determination unit 1204 (in FIG. 13 ) determines that a vehicle is in an inappropriate driving pattern and a driver is in a driver carelessness state, the controller 1206 (in FIG. 13 ) may further transmit a speed regulation command to the speed regulation apparatus 70 (in FIG. 13 ) so that the speed regulation apparatus 70 (in FIG. 13 ) regulates the speed in accordance with a target speed.

In addition, in the sixth step S 1507 , if the determination unit 1204 (in FIG. 13 ) determines that a vehicle is in an inappropriate driving pattern and a driver is in a driver carelessness state, the controller 1206 (in FIG. 13 ) may further transmit a speed regulation command to the speed regulation apparatus 70 (in FIG. 13 ) so that the speed regulation apparatus 70 (in FIG. 13 ) regulates the speed in accordance with a regulation speed of the inputted current traffic sign information.

As such, the vehicle control apparatuses 100 , 900 and 1200 and the vehicle control methods 700 , 1100 , 1400 and 1500 according to an embodiment of the present disclosure can perform the first steps S 702 , S 1102 , S 1402 and S 1502 , the second steps S 704 . S 1104 , S 1404 and S 1504 , and the third steps S 706 , S 1106 , S 1406 and S 1506 by including the input units 102 , 902 and 1202 , the determination units 104 , 904 and 1204 , and the controllers 106 , 906 and 1206 .

Accordingly, the vehicle control apparatuses 100 , 900 and 1200 and the vehicle control methods 700 , 1100 , 1400 and 1500 according to an embodiment of the present disclosure can warn the driver that the driver is currently in a careless driving state through the warning apparatus 30 if a vehicle is in an inappropriate driving pattern and the driver is in a driver carelessness state.

Therefore, the vehicle control apparatuses 100 , 900 and 1200 and the vehicle control methods 700 , 1100 , 1400 and 1500 according to an embodiment of the present disclosure can efficiently improve the warning operation of the warning apparatus 30 .

In addition, the vehicle control apparatus 100 and the vehicle control method 800 according to an embodiment of the present disclosure can perform the first step S 802 , the second step S 804 , and the third steps S 806 a to S 806 d by including the input unit 102 , the determination unit 104 , and the controller 106 .

Accordingly, the vehicle control apparatus 100 and the vehicle control method 800 according to an embodiment of the present disclosure can variably calculate a driver carelessness state determination time for performing the warning operation of the warning apparatus 30 according to the inappropriate driving pattern and the driver carelessness state.

Therefore, the vehicle control apparatus 100 and the vehicle control method 800 according to an embodiment of the present disclosure can reduce a false warning rate due to the quick warning operation or the late warning operation while warning through the warning apparatus 30 that a driver is currently in a careless driving state within a proper time.

In addition, the vehicle control apparatus 900 and the vehicle control method 1100 according to an embodiment of the present disclosure can perform the first step S 1102 , the second step S 1104 , the third step S 1106 and the fourth step S 1107 by including the input unit 902 , the determination unit 904 , and the controller 906 .

Accordingly, the vehicle control apparatus 900 and the vehicle control method 1100 according to an embodiment of the present disclosure can control a vehicle attitude in accordance with the lane through the ESC apparatus 50 .

Therefore, the vehicle control apparatus 900 and the vehicle control method 1100 according to an embodiment of the present disclosure can control the vehicle attitude so that a vehicle does not depart from the lane, thereby effectively preventing the occurrence of a traffic accident in advance.

In addition, the vehicle control apparatus 1200 and the vehicle control methods 1400 and 1500 according to an embodiment of the present disclosure can perform the first steps S 1402 and S 1502 , the second steps S 1404 and S 1504 , the third steps S 1406 and S 1506 , the fifth step S 1407 and the sixth step S 1507 by including the input unit 1202 , the determination unit 1204 , and the controller 1206 .

Accordingly, the vehicle control apparatus 1200 and the vehicle control methods 1400 and 1500 according to an embodiment of the present disclosure, when a vehicle is in an inappropriate driving pattern and a driver is in a driver carelessness state, can regulate the speed in accordance with a target speed through the speed regulation apparatus 70 , and can regulate the speed in accordance with a regulation speed of the current traffic sign information through the speed regulation apparatus 70 .

Therefore, the vehicle control apparatus 1200 and the vehicle control methods 1400 and 1500 according to an embodiment of the present disclosure can stably control the speed of a vehicle, thereby effectively preventing the occurrence of a traffic accident in advance.

As is apparent from the above, the vehicle control apparatuses and the vehicle control methods according to an embodiment of the present disclosure can efficiently improve the warning operation of a warning apparatus.

Further, the vehicle control apparatuses and the vehicle control methods according to an embodiment of the present disclosure can reduce a false warning rate while warning that a driver is currently in a careless driving state within a proper time.

Further, the vehicle control apparatuses and the vehicle control methods according to an embodiment of the present disclosure can effectively prevent the occurrence of a traffic accident in advance.