Apparatus and method for controlling driving of vehicle

1. An apparatus for controlling driving of a vehicle, comprising:

a sensor unit that has at least one sensor disposed at sides of a vehicle; and

a controller configured to:

use sensing information received from the sensor unit to confirm whether the vehicle enters a path;

generate a plurality of arcs based on a rear wheel shaft of the vehicle depending on a current velocity of the vehicle when the vehicle enters the path;

detect obstacles located on the path;

calculate a left width and a right width of the path based on the obstacles;

confirm whether the path is a narrow road; and

output a driving guidance to the confirmed narrow road.

2. The apparatus of claim 1 , wherein the controller is configured to calculate a safety distance based on a current velocity and a deceleration of the vehicle and extract the arcs and arcs which do not contact the obstacles within the safety distance to set the arcs to candidate group arcs.

3. The apparatus of claim 2 , wherein the controller is configured to generate offset arcs that have minimum and maximum radii contacting the obstacles based on the candidate group arcs.

4. The apparatus of claim 3 , wherein the controller is configured to calculate a width of the path based on a difference between the offset arcs that have the minimum and maximum radii to confirm whether the path is the narrow road.

5. A method for controlling driving of a vehicle, comprising:

analyzing, by a controller, sensing information measured by at least one sensor disposed at a side of a vehicle;

confirming, by the controller, whether the vehicle enters a path based on the analysis result;

measuring, by the controller, a current velocity of the vehicle when the vehicle enters the path;

generating, by the controller, a plurality of arcs based on a rear wheel shaft of the vehicle depending on the current velocity of the vehicle;

calculating, by the controller, a safety distance based on the current velocity and a deceleration;

detecting, by the controller, obstacles located on the path;

calculating, by the controller, a left width and a right width of the path based on the obstacles to confirm whether the path is the narrow road; and

outputting, by the controller, a driving guidance to the confirmed narrow road.

6. The method of claim 5 , further comprising:

after detecting the obstacles, extracting, by the controller, the arcs and arcs which do not contact the obstacles to set the arcs to candidate group arcs within the safety distance; and

generating, by the controller, offset arcs that have minimum and maximum radii contacting the obstacles based on the candidate group arcs.

7. The method of claim 6 , wherein in confirming whether the path is the narrow road, a width of the path is calculated, by the controller, based on a difference between the offset arcs that have the minimum and maximum radii to confirm whether the path is the narrow road.

8. A non-transitory computer readable medium containing program instructions executed by a controller, the computer readable medium comprising:

program instructions that use sensing information received from a sensor unit that has at least one sensor disposed at sides of a vehicle to confirm whether the vehicle enters a path;

program instructions that generate a plurality of arcs based on a rear wheel shaft of the vehicle depending on a current velocity of the vehicle when the vehicle enters the path;

program instructions that detect obstacles located on the path;

program instructions that calculate a left width and a right width of the path based on the obstacles;

program instructions that confirm whether the path is a narrow road; and

program instructions that output a driving guidance to the confirmed narrow road.

9. The non-transitory computer readable medium of claim 8 , further comprising:

program instructions that calculate a safety distance based on a current velocity and a deceleration of the vehicle and extract the arcs and arcs which do not contact the obstacles within the safety distance to set the arcs to candidate group arcs.

10. The non-transitory computer readable medium of claim 9 , further comprising:

program instructions that generate offset arcs that have minimum and maximum radii contacting the obstacles based on the candidate group arcs.

11. The non-transitory computer readable medium of claim 10 , further comprising:

program instructions that calculate a width of the path based on a difference between the offset arcs that have the minimum and maximum radii to confirm whether the path is the narrow road.