Abstract: Provided is a vehicle capable of: acquiring an image of a road in front of a vehicle in an autonomous driving mode; recognizing a lane line, a subject lane, and an obstacle on the acquired image of the road; determining whether the recognized obstacle is in a stationary state based on obstacle information detected by an obstacle detector; acquiring, if the obstacle in the stationary state exists on at least one of two subject lane lines constituting the subject lane, a width of involvement of the lane line crossed by the obstacle; determining whether keeping of travelling on the subject lane is to be performed based on the acquired width of involvement; performing a deflection control within the subject lane to avoid the obstacle in the stationary state if it is determined that the keeping of travelling on the subject lane is to be performed; and performing control of departure from the subject lane or deceleration control if it is determined that the keeping of travelling on the subject lane is not to be per

Abstract: A driver assistance system of a vehicle can adjust a warning time-point for a hands-off detector configured to detect that a hand of a driver is off of a steering wheel. To this end, the driver assistance system can include an image acquisition device configured to acquire image data of an area outside of the vehicle, a sensor configured to acquire behavior data of the vehicle, a hands-off detector configured to detect that a hand of the driver is off of the steering wheel, and a controller. The controller is configured to determine a driving situation of the vehicle based on the image data and behavior data, and to determine a warning time-point for the hands-off detector based on the driving situation. The controller can further control a warning device to output a warning message for the hands-off at the determined warning time-point.

Abstract: A driver assistance system of a vehicle can adjust a warning time-point for a hands-off detector configured to detect that a hand of a driver is off of a steering wheel. To this end, the driver assistance system can include an image acquisition device configured to acquire image data of an area outside of the vehicle, a sensor configured to acquire behavior data of the vehicle, a hands-off detector configured to detect that a hand of the driver is off of the steering wheel, and a controller. The controller is configured to determine a driving situation of the vehicle based on the image data and behavior data, and to determine a warning time-point for the hands-off detector based on the driving situation. The controller can further control a warning device to output a warning message for the hands-off at the determined warning time-point.

Abstract: Provided is a vehicle capable of: acquiring an image of a road in front of a vehicle in an autonomous driving mode; recognizing a lane line, a subject lane, and an obstacle on the acquired image of the road; determining whether the recognized obstacle is in a stationary state based on obstacle information detected by an obstacle detector; acquiring, if the obstacle in the stationary state exists on at least one of two subject lane lines constituting the subject lane, a width of involvement of the lane line crossed by the obstacle; determining whether keeping of travelling on the subject lane is to be performed based on the acquired width of involvement; performing a deflection control within the subject lane to avoid the obstacle in the stationary state if it is determined that the keeping of travelling on the subject lane is to be performed; and performing control of departure from the subject lane or deceleration control if it is determined that the keeping of travelling on the subject lane is not to be per