Vehicle and method of controlling the same
A vehicle for performing avoidance control of the vehicle according to a position and a relative speed of an object, may include a sensing device mounted to the vehicle and having a field of view in front of the vehicle and a field of view in a lateral side of the vehicle, the sensing device configured to obtain object data related to the object; a dynamics sensor configured to detect a motion of the vehicle and obtain motion data based on the motion of the vehicle; and a controller including a processor configured to process the object data and the motion data.
1 . A vehicle for performing avoidance control of the vehicle according to a position and a relative speed of an object on an opposite side, the vehicle comprising:
a sensing device mounted to the vehicle and having a field of view in front of the vehicle and a field of view in a lateral side of the vehicle, the sensing device configured to obtain object data related to the object;
a sensor configured to detect a motion of the vehicle and obtain motion data based on the motion of the vehicle; and
a controller including a processor configured to process the object data and the motion data,
wherein the controller is configured to:
determine a heading angle between the object and the vehicle according to the object data and the motion data, a lateral position of the object with respect to the vehicle, and an amount of turning of the vehicle,
determine an index for each of the heading angle, the lateral position, and the amount of turning by comparing the heading angle, the lateral position, and the amount of turning with respective threshold value of the heading angle, the lateral position, and the amount of turning, and
not perform the avoidance control of the vehicle when the index for each of the heading angle, the lateral position, and the amount of turning satisfies a predetermined condition,
wherein the lateral position of the object is calculated from a distance between an extension line extending perpendicular to the front of the vehicle and an extension line extending perpendicularly from the object,
wherein the controller is configured to form a band having a constant width based on the vehicle, the threshold value of the lateral position comprising the band,
when the object is detected to be outside the band, determine the index for the lateral position corresponding to the predetermined condition for the lateral position,
when the object is detected to be within the band, determine the index for the lateral position dissatisfying the predetermined condition for the lateral position,
wherein the threshold value for the amount of turning increases as a number of lanes around a lane used by the object entering an intersection from the opposite side of the vehicle increases, and
wherein the amount of turning is determined based on a steering angle of the vehicle, a speed of the vehicle and a yaw rate of the vehicle, and when the vehicle makes a U-turn, the speed is weighted to be greater than a U-turn speed.
2 . The vehicle of claim 1 ,
wherein the index for each of the heading angle, the lateral position, and the amount of turning includes a first index, a second index and a third index, and
wherein the controller is configured to:
when the heading angle is greater than or equal to a predetermined first threshold value, determine the first index corresponding to the heading angle as 1,
when the heading angle is less than the predetermined first threshold value, determine the first index as 0,
when the lateral position is greater than or equal to a predetermined second threshold value, determine the second index corresponding to the lateral position as 1,
when the lateral position is less than the predetermined second threshold value, determine the second index as 0,
when the amount of turning is greater than or equal to a predetermined third threshold value, determine the third index corresponding to the amount of turning as 1, and
when the amount of turning is less than the predetermined third threshold value, determine the third index as 0.
3 . The vehicle of claim 2 , wherein, when at least one of the first index, the second index, and the third index has a value of 1, the controller is configured not to perform the avoidance control.
4 . The vehicle of claim 1 ,
wherein the index for each of the heading angle, the lateral position, and the amount of turning includes a first index, and
wherein the controller is configured to:
determine a change amount per time of the heading angle,
when the change amount per time of the heading angle is greater than or equal to a predetermined change amount threshold value, determine the first index corresponding to the change amount per time of the heading angle as 1, and
when the change amount per time of the heading angle is less than the predetermined change amount threshold value, determine the first index as 0.
5 . The vehicle of claim 1 , wherein the heading angle is an angle between an extension line perpendicular to a front surface of the vehicle and an extension line perpendicular to a front surface of the object.
6 . The vehicle of claim 1 ,
wherein the index for each of the heading angle, and the amount of turning includes a second index, and
wherein the controller is configured to:
form the band having a constant width based on the vehicle,
when the object is detected to be outside the band, determine the second index corresponding to the lateral position as 1, and
when the object is detected to be within the band, determine the second index as 0.
7 . The vehicle of claim 1 , wherein the controller is further configured to determine the amount of turning according to an angular velocity of the vehicle.
8 . A method of controlling a vehicle, the vehicle for performing avoidance control of the vehicle according to a position and a relative speed of an object on an opposite side, the method comprising:
obtaining, by sensors, object data related to the object and motion data related to motion of the vehicle;
determining, by a controller, a heading angle between the object and the vehicle according to the object data and the motion data, a lateral position of the object with respect to the vehicle, and an amount of turning of the vehicle;
determining, by the controller, an index for each of the heading angle, the lateral position, and the amount of turning by comparing the heading angle, the lateral position, and the amount of turning with respective threshold value of the heading angle, the lateral position, and the amount of turning; and
controlling, by the controller, the vehicle not to perform the avoidance control of the vehicle when the index for each of the heading angle, the lateral position, and the amount of turning satisfies a predetermined condition,
wherein the lateral position of the object is calculated from a distance between an extension line extending perpendicular to the front of the vehicle and an extension line extending perpendicularly from the object,
wherein the determining the index comprises forming a band having a constant width based on the vehicle, the threshold value of the lateral position comprising the band,
when the object is detected to be outside the band, determining the index for the lateral position corresponding to the predetermined condition for the lateral position,
when the object is detected to be within the band, determining the index for the lateral position dissatisfying the predetermined condition for the lateral position,
wherein the threshold value for the amount of turning increases as a number of lanes around a lane used by the object entering an intersection from the opposite side of the vehicle increases, and
wherein the amount of turning is determined based on a steering angle of the vehicle, a speed of the vehicle and a yaw rate of the vehicle, and when the vehicle makes a U-turn, the speed is weighted to be greater than a U-turn speed.
9 . The method of claim 8 ,
wherein the index for each of the heading angle, the lateral position, and the amount of turning includes a first index, a second index and a third index, and
wherein the determining includes:
when the heading angle is greater than or equal to a predetermined first threshold value, determining the first index corresponding to the heading angle as 1;
when the heading angle is less than the predetermined first threshold value, determining the first index as 0;
when the lateral position is greater than or equal to a predetermined second threshold value, determining the second index corresponding to the lateral position as 1;
when the lateral position is less than the predetermined second threshold value, determining the second index as 0;
when the amount of turning is greater than or equal to a predetermined third threshold value, determining the third index corresponding to the amount of turning as 1; and
when the amount of turning is less than the predetermined third threshold value, determining the third index as 0.
10 . The method of claim 9 , wherein the controlling of the vehicle includes:
when at least one of the first index, the second index, and the third index has a value of 1, controlling the vehicle not to perform the avoidance control.
11 . The method of claim 8 ,
wherein the index for each of the heading angle, the lateral position, and the amount of turning includes a first index, and
wherein the determining includes:
determining a change amount per time of the heading angle;
when the change amount per time of the heading angle is greater than or equal to a predetermined change amount threshold value, determining the first index corresponding to the change amount per time of the heading angle as 1; and
when the change amount per time of the heading angle is less than the predetermined change amount threshold value, determining the first index as 0.
12 . The method of claim 8 , wherein the heading angle is an angle between an extension line perpendicular to a front surface of the vehicle and an extension line perpendicular to a front surface of the object.
13 . The method of claim 8 ,
wherein the index for each of the heading angle, and the amount of turning includes a second index, and
wherein the determining includes:
forming the band having a constant width based on the vehicle;
when the object is detected to be outside the band, determining the second index corresponding to the lateral position as 1; and
when the object is detected to be within the band, determining the second index as 0.
14 . The method of claim 8 , wherein the controller is further configured to determine the amount of turning according to an angular speed of the vehicle.
15 . A non-transitory computer readable medium including program instructions executed by the processor to perform the method of claim 8 .
16 . A non-transitory computer readable medium including program instructions executed by a processor, the computer readable medium including:
program instructions that obtain, by sensors, object data related to an object on an opposite side and motion data related to motion of a vehicle;
program instructions that determine, by a controller, a heading angle between the object and the vehicle according to the object data and the motion data, a lateral position of the object with respect to the vehicle, and an amount of turning of the vehicle;
program instructions that determine, by the controller, an index for each of the heading angle, the lateral position, and the amount of turning by comparing the heading angle, the lateral position, and the amount of turning with respective threshold value of the heading angle, the lateral position, and the amount of turning; and
program instructions that control, by the controller, the vehicle not to perform an avoidance control of the vehicle when the index for each of the heading angle, the lateral position, and the amount of turning satisfies a predetermined condition,
wherein the lateral position of the object is calculated from a distance between an extension line extending perpendicular to the front of the vehicle and an extension line extending perpendicularly from the object,
wherein the determining the index comprises forming a band having a constant width based on the vehicle, the threshold value of the lateral position comprising the band,
when the object is detected to be outside the band, determining the index for the lateral position corresponding to the predetermined condition for the lateral position,
when the object is detected to be within the band, determining the index for the lateral position dissatisfying the predetermined condition for the lateral position,
wherein the threshold value for the amount of turning increases as a number of lanes around a lane used by the object entering an intersection from the opposite side of the vehicle increases, and
wherein the amount of turning is determined based on a steering angle of the vehicle, a speed of the vehicle and a yaw rate of the vehicle, and when the vehicle makes a U-turn, the speed is weighted to be greater than a U-turn speed.
17 . The non-transitory computer readable medium of claim 16 ,
wherein the index for each of the heading angle, the lateral position, and the amount of turning includes a first index, a second index and a third index, and
wherein the determining includes:
when the heading angle is greater than or equal to a predetermined first threshold value, determining the first index corresponding to the heading angle as 1;
when the heading angle is less than the predetermined first threshold value, determining the first index as 0;
when the lateral position is greater than or equal to a predetermined second threshold value, determining the second index corresponding to the lateral position as 1;
when the lateral position is less than the predetermined second threshold value, determining the second index as 0;
when the amount of turning is greater than or equal to a predetermined third threshold value, determining the third index corresponding to the amount of turning as 1; and
when the amount of turning is less than the predetermined third threshold value, determining the third index as 0.
18 . The non-transitory computer readable medium of claim 17 , wherein the controlling of the vehicle includes:
when at least one of the first index, the second index, and the third index has a value of 1, controlling the vehicle not to perform the avoidance control.
19 . The non-transitory computer readable medium of claim 16 ,
wherein the index for each of the heading angle, the lateral position, and the amount of turning includes a first index, and
wherein the determining includes:
determining a change amount per time of the heading angle;
when the change amount per time of the heading angle is greater than or equal to a predetermined change amount threshold value, determining the first index corresponding to the change amount per time of the heading angle as 1; and
when the change amount per time of the heading angle is less than the predetermined change amount threshold value, determining the first index as 0.
20 . The non-transitory computer readable medium of claim 16 , wherein the heading angle is an angle between an extension line perpendicular to a front surface of the vehicle and an extension line perpendicular to a front surface of the object.