CN-114228706-B - Vehicle, method of controlling vehicle, and recording medium

Abstract

A vehicle includes a detection sensor configured to acquire an image of a front view of the vehicle and configured to detect an obstacle in the front view, and a controller including at least one processor that processes data acquired from the detection sensor. The controller may be configured to determine a collision prediction position between the vehicle and the obstacle, determine an avoidance position at which collision with the obstacle can be avoided based on the collision prediction position, generate a plurality of avoidance paths corresponding to a plurality of predetermined conditions based on the avoidance positions, respectively, and control the steering angle adjustment unit to follow any one of the plurality of avoidance paths.

Inventors

• Pu Zhonghe
• Min Binghe
• Gao Hengmin
• LI TAIRONG

Assignees

• 现代自动车株式会社
• 起亚株式会社

Dates

Publication Date

20260508

Application Date

20210531

Priority Date

20200909

Claims (18)

1. 1. A vehicle, comprising: A detection sensor configured to acquire an image of a front view of a vehicle and detect an obstacle in the front view, and A controller including at least one processor configured to process data acquired from the detection sensor, Wherein the controller is configured to: Determining a predicted location of a collision between the vehicle and the obstacle, Determining an avoidance location capable of avoiding a collision with the obstacle based on the predicted location; generating a plurality of avoidance paths corresponding to a plurality of predetermined conditions based on the avoidance positions, respectively, and Control the steering angle adjusting unit to follow any one of the plurality of avoidance paths, Wherein the controller is configured to generate the plurality of avoidance paths including a path in which a longitudinal position of the vehicle is greater than a longitudinal position of the obstacle and a curvature is gentle, and a path in which a longitudinal position of the vehicle is the same as a longitudinal position of the obstacle and a curvature is steep.
2. 2. The vehicle of claim 1, wherein the controller is configured to: calculating a target position at which tracking of each of the plurality of avoidance paths ends based on the predetermined condition, and And generating the plurality of avoidance paths based on the target position.
3. 3. The vehicle of claim 1, further comprising a memory configured to store a plurality of the predetermined conditions and the plurality of avoidance paths corresponding to the respective predetermined conditions.
4. 4. The vehicle of claim 1, wherein the controller is configured to control not to follow the plurality of avoidance paths when a width of a front bumper of the vehicle is greater than a distance between the obstacle and each lane on both sides.
5. 5. The vehicle according to claim 4, wherein the controller is configured to perform brake control so as not to collide with the obstacle.
6. 6. The vehicle of claim 1, wherein the controller is configured to generate the plurality of avoidance paths using coefficients of a five-degree function.
7. 7. The vehicle of claim 1, wherein the controller is configured to obtain the offset of the vehicle using a five-time function, obtain the heading angle of the vehicle using a four-time function obtained by differentiating the five-time function, and obtain the curvature of the avoidance path using a three-time function obtained by differentiating the four-time function.
8. 8. The vehicle of claim 1, wherein the plurality of evasion paths includes a first evasion path for a first zone and a second evasion path for a second zone, and The first avoidance path is a path for avoiding a first obstacle, and the second avoidance path is a path for avoiding a second obstacle after the first obstacle.
9. 9. The vehicle according to claim 8, wherein the controller is configured to determine the first avoidance path as a gentle path when there is no risk of collision with the second obstacle, and control the steering angle adjustment unit to follow the gentle path in the first section.
10. 10. The vehicle of claim 8, wherein the controller is configured to perform at least one of a braking control and a steering control in the second avoidance path when there is a risk of collision with the second obstacle.
11. 11. A method of controlling a vehicle, comprising the steps of: determining a predicted collision location between the vehicle and the obstacle; determining an avoidance position capable of avoiding a collision with the obstacle based on the collision predicted position; generating a plurality of avoidance paths corresponding to a plurality of predetermined conditions based on the avoidance positions, respectively, and Controlling the vehicle to follow any one of the plurality of avoidance paths, Wherein generating the plurality of avoidance paths includes generating the plurality of avoidance paths including a path in which a longitudinal position of the vehicle is greater than a longitudinal position of the obstacle and a curvature is gentle, and a path in which the longitudinal position of the vehicle is the same as the longitudinal position of the obstacle and the curvature is steep.
12. 12. The method of claim 11, wherein generating the plurality of avoidance paths comprises: calculating a target position at which tracking of each of the plurality of avoidance paths ends based on the predetermined condition, and And generating the plurality of avoidance paths based on the target position.
13. 13. The method of claim 11, further comprising loading a plurality of the predetermined conditions and a plurality of the backoff paths corresponding to the respective predetermined conditions from a memory.
14. 14. The method of claim 11, wherein controlling the vehicle includes controlling not to follow the plurality of avoidance paths when a width of a front bumper of the vehicle is greater than a distance between the obstacle and each lane on both sides.
15. 15. The method of claim 14, wherein controlling the vehicle includes performing braking control so as not to collide with the obstacle.
16. 16. The method of claim 11, wherein generating the plurality of avoidance paths comprises generating the plurality of avoidance paths using coefficients of a five-degree function.
17. 17. The method of claim 11, wherein generating the plurality of avoidance paths comprises: Obtaining an offset of the vehicle using a five-degree function; obtaining a heading angle of the vehicle using a fourth-order function obtained by differentiating the fifth-order function, and A curvature of each of the plurality of avoidance paths is acquired using a cubic function acquired by differentiating the fourth-order function.
18. 18. A recording medium storing a non-transitory computer program which, when executed, causes a processor to perform the steps of: determining a predicted collision location between the vehicle and the obstacle; determining an avoidance position capable of avoiding a collision with the obstacle based on the collision predicted position; generating a plurality of avoidance paths corresponding to a plurality of predetermined conditions based on the avoidance positions, respectively, and Controlling the vehicle to follow any one of the plurality of avoidance paths, Wherein generating the plurality of avoidance paths includes generating the plurality of avoidance paths including a path in which a longitudinal position of the vehicle is greater than a longitudinal position of the obstacle and a curvature is gentle, and a path in which the longitudinal position of the vehicle is the same as the longitudinal position of the obstacle and the curvature is steep.

Description

Vehicle, method of controlling vehicle, and recording medium Technical Field The present invention relates to a vehicle and a control method thereof, and more particularly, to a vehicle that naturally avoids an obstacle and avoids a secondary collision after the avoidance, and a control method thereof. Background Recently, in order to reduce the burden on the driver and improve convenience, advanced Driver Assistance Systems (ADASs) that actively provide information on the state of the vehicle, the state of the driver, and the surrounding environment have been actively developed. Examples of ADASs include intelligent cruise control systems, lane keeping assist systems, lane following assist systems, lane departure warning systems, forward Collision Avoidance (FCA), forward collision avoidance assist lane change side (FCA-LS), forward collision avoidance assist lane change approach (FCA-LO), forward collision avoidance assist and avoidance steering assist (FCA and/ESA). Such a system determines the risk of collision with an opposing vehicle or an intersecting vehicle in a running condition of the vehicle, avoids the collision by emergency braking, and controls the running of the vehicle while maintaining a clearance with the preceding vehicle, or assists in preventing a lane from being deviated. The information included in this background section is only for enhancement of understanding of the general background of the disclosure and is not to be construed as an admission or any form of suggestion that this information forms the prior art that is known to a person of ordinary skill in the art. Disclosure of Invention The present disclosure provides a vehicle and a vehicle control method that are capable of responding to all collision risk conditions existing in all directions of the own vehicle. According to one aspect of the disclosure, a vehicle may include a detection sensor configured to acquire an image of a forward view of the vehicle and configured to detect an obstacle in the forward view, and a controller including at least one processor that processes data acquired from the detection sensor. The controller may be configured to determine a collision prediction position between the vehicle and the obstacle, determine an avoidance position at which collision with the obstacle can be avoided based on the collision prediction position, generate a plurality of avoidance paths corresponding to a plurality of predetermined conditions based on the avoidance positions, respectively, and control the steering angle adjustment unit to follow any one of the plurality of avoidance paths. The controller may be configured to calculate a target position at which tracking of the avoidance path ends based on a predetermined condition, and generate a plurality of avoidance paths based on the target position. The vehicle may further include a memory configured to store a plurality of predetermined conditions and a plurality of avoidance paths corresponding to the predetermined conditions. The controller may be configured to generate a plurality of avoidance paths including a path in which a longitudinal position of the vehicle is greater than a longitudinal position of the obstacle and a curvature is gentle, and a path in which the longitudinal position of the vehicle is the same as the longitudinal position of the obstacle and the curvature is steep. The controller may be configured to control not to follow the plurality of avoidance paths when a width of the front bumper of the vehicle is greater than a distance between the obstacle and each lane on both sides. The controller may be configured to perform the braking control so as not to collide with the obstacle. The controller may be configured to generate a plurality of avoidance paths using coefficients of the quintic function. The controller may be configured to acquire an offset of the vehicle using a cubic function, acquire a heading angle of the vehicle using a fourth function acquired by differentiating the cubic function, and acquire a curvature of the avoidance path using a third function acquired by differentiating the fourth function. The avoidance path may include a first avoidance path for the first section and a second avoidance path for the second section, and the first avoidance path is a path for avoidance of the first obstacle and the second avoidance path is a path for avoidance of the second obstacle following the first obstacle. The controller may be configured to determine the first avoidance path to have a gentle path when there is no risk of collision with the second obstacle, and control the steering angle adjustment unit to follow the gentle path in the first section. The controller may be configured to perform at least one of a braking control and a steering control in the second avoidance path when there is a risk of collision with the second obstacle. According to another aspect of the present disclosure, a method of controlling a vehicle