BCA Method And Apparatus for Assisting Camera-based BCA

Disclosed are an apparatus and method for assisting camera-based blind-spot collision avoidance (BCA). A control assistance apparatus comprises: a radar unit which detects an object around a vehicle using one or more radars, and generates information by tracking a relative position of the detected object relative to the vehicle (hereinafter referred to as 'radar tracking information'); a camera unit which generates information tracking the relative position of the surrounding object relative to the vehicle (hereinafter referred to as 'camera tracking information') using one or more cameras; a tracking information receiving unit which receives, when at least one of the radar tracking information and the camera tracking information is generated, the at least one of the generated information; an approach determination unit which determines whether the surrounding object approaches within a preset distance from the vehicle based on the at least one piece of information received by the tracking information receiving unit; a radar determination unit which determines whether the radar tracking information is generated in real time when, as a result of the determination of the approach determination unit, the surrounding object is approaching within the preset distance from the vehicle; a camera determination unit which determines whether the camera tracking information is generated in real time when it is determined that the radar tracking information is generated in real time; and a control unit which receives at least one of the radar tracking information and the camera tracking information from the tracking information receiving unit when, as a result of the determination of the camera determination unit, it is determined that the camera tracking information is generated in real time, and controls a braking system of the vehicle based on the received at least one piece of information. The control assistant apparatus according to the present invention can activate BCA by using a camera to recognize surrounding objects which are moving at low speeds or those which are stationary. 카메라 기반 BCA를 보조하는 장치 및 방법을 개시한다. 적어도 하나의 레이더를 이용하여 차량의 주변물체를 감지하고, 감지된 상기 주변물체의 상기 차량에 대한 상대위치를 추적한 정보(이하 '레이더 추적정보')를 생성하는 레이더부; 적어도 하나의 카메라를 이용하여 상기 주변물체의 상기 차량에 대한 상대위치를 추적한 정보(이하 '카메라 추적정보')를 생성하는 카메라부; 상기 레이더 추적정보 및 상기 카메라 추적정보 중 하나 이상의 정보가 생성된 경우, 생성된 하나 이상의 정보를 수신하는 추적정보 수신부; 상기 추적정보 수신부가 수신한 상기 하나 이상의 정보를 기초로 상기 주변물체가 상기 차량으로부터 기 설정된 거리 이내로 접근하는지 여부를 판단하는 접근판단부; 상기 접근판단부의 판단 결과,