Vehicle and method of controlling thereof

1. A vehicle comprising:

a forward detection sensor configured to detect at least one of a target vehicle in front of the vehicle and/or a first object;

a side detection sensor configured to detect a second object located on at least one of a left-side or right-side of the vehicle;

a first controller configured to determine a possibility of forward avoidance of the vehicle with respect to the target vehicle;

a second controller configured to determine a possibility of side avoidance of the vehicle with respect to the target vehicle;

a third controller configured to determine a possibility of avoiding collision of the vehicle with the target vehicle based on a result of detecting the target vehicle and the first object of the forward detection sensor and a result of detecting the second object of the side detection sensor; and

an integrated controller configured to determine a final avoidance possibility for the target vehicle based on the possibility of forward avoidance determined by the first controller and the possibility of side avoidance determined by the second controller, and adjust a control amount of collision avoidance of the vehicle by comparing the possibility of avoiding driving determined by the third controller with the final avoidance possibility.

2. The vehicle according to claim 1 , wherein

the first controller is configured to determine a left-side avoidance area and right-side avoidance area with respect to the detected target vehicle, and determines the possibility of forward avoidance of the vehicle with respect to the target vehicle based on the left-side or right-side avoidance area.

3. The vehicle according to claim 2 , wherein the first controller is configured to:

determine an avoidance path for the vehicle to avoid in the left-side avoidance area or the right-side avoidance area, and

determine whether an object is located in the left-side avoidance area of the target vehicle based on a result of forward detecting of the forward detection sensor, and determine that the possibility of forward avoidance is that the vehicle avoids the target vehicle through the left avoidance path when the object is not located in the left-side avoidance area.

4. The vehicle according to claim 2 , wherein the first controller is configured to:

determine an avoidance path for the vehicle to avoid in the left-side avoidance area or the right-side avoidance area,

determine whether an object is located in the right-side avoidance area of the target vehicle based on a result of forward detecting of the forward detection sensor, and determine that the possibility of forward avoidance is that the vehicle avoids the target vehicle through the right avoidance path when the object is not located in the right-side avoidance area.

5. The vehicle according to claim 2 , wherein the first controller is configured to:

determine whether the object is located in the right-side avoidance area and the left-side avoidance area of the target vehicle based on a result of forward detecting of the forward detection sensor, and

determine that the possibility of forward avoidance is that the vehicle cannot avoid the target vehicle if the object is located in the right-side avoidance area and the left-side avoidance area.

6. The vehicle according to claim 1 , wherein the second controller is configured to:

determine a lane change path for the vehicle to avoid the target vehicle based on a detected object, and

determine the possibility of side avoidance of the vehicle with respect to the target vehicle based on the lane change path.

7. The vehicle according to claim 6 , wherein the second controller is configured to:

determine whether an object is located in the left-side of the vehicle based on a result of side detecting of the side detection sensor, and

determine the possibility of side avoidance to avoid the target vehicle through the left lane change path when the object is not located in the left-side of the vehicle.

8. The vehicle according to claim 6 , wherein the second controller is configured to:

determine whether an object is located in the right-side of the vehicle based on a result of side detecting of the side detection sensor, and

determine the possibility of side avoidance to avoid the target vehicle through the right lane change path when the object is not located in the right-side of the vehicle.

9. The vehicle according to claim 6 , wherein the second controller is configured to:

determine whether an object is located in the right-side and left-side of the vehicle based on a result of side detecting of the side detection sensor, and

determine that the possibility of side avoidance is that the vehicle cannot avoid the target vehicle when the object is located in the right-side and the left-side of the vehicle.

10. The vehicle according to claim 1 , wherein the integrated controller is configured to:

increase a braking amount of the vehicle to be greater than a predetermined value when the final avoidance possibility determined from the first controller and the second controller is matched to the possibility of avoiding driving determined by the third controller, and

decrease a braking amount of the vehicle to be less than the predetermined value when the final avoidance possibility determined from the first controller and the second controller is not matched to the possibility of avoiding driving determined by the third controller.

11. The vehicle according to claim 1 , wherein the integrated controller is configured to:

advance a braking time point of the vehicle to be earlier than a predetermined time point when the final avoidance possibility determined from the first controller and the second controller is matched to the possibility of avoiding driving determined by the third controller, and

delay the braking time point of the vehicle to be later than the predetermined time point when the final avoidance possibility determined from the first controller and the second controller is not matched to the possibility of avoiding driving determined by the third controller.

12. The vehicle according to claim 1 , wherein the integrated controller is configured to:

advance a collision warning time point of the vehicle to be earlier than a predetermined time point when the final avoidance possibility determined from the first controller and the second controller is matched to the possibility of avoiding driving determined by the third controller, and

delay the collision warning time point of the vehicle to be later than the predetermined time point when the final avoidance possibility determined from the first controller and the second controller is not matched to the possibility of avoiding driving determined by the third controller.

13. A method for controlling a vehicle including a first controller, second controller and a third controller, the method comprising:

detecting, by a forward detecting sensor, at least one of a target vehicle in front of the vehicle and/or other object;

detecting, by a side detecting sensor, an object located at least one of a left-side or right-side of the vehicle;

determining, by the first controller, a possibility of forward avoidance of the vehicle with respect to the target vehicle;

determining, by the second controller, a possibility of side avoidance of the vehicle with respect to the target vehicle;

determining, by the third controller, a possibility of avoiding driving of the vehicle with respect to the target vehicle based on a result of detecting the target vehicle and the other object and a result of detecting the object; and

determining, by an integrated controller, a final avoidance possibility for the target vehicle based on the possibility of forward avoidance determined by the first controller and the possibility of side avoidance determined by the second controller, and

adjusting, by the integrated controller, a control amount of collision avoidance of the vehicle by comparing the possibility of avoiding driving determined by the third controller with the final avoidance possibility.

14. The method according to claim 13 , wherein

determining, by the first controller, the possibility of forward avoidance of the vehicle comprises determining a left-side avoidance area and a right-side avoidance area with respect to the detected target vehicle, and determining the possibility of forward avoidance of the vehicle with respect to the target vehicle based on the determined avoidance area by the first controller.

15. The method according to claim 14 further comprising:

determining, by the first controller, an avoidance path for the vehicle to avoid in the left-side avoidance area or the right-side avoidance area, and wherein

determining, by the first controller, the possibility of forward avoidance of the vehicle comprises determining whether an object is located in the left-side avoidance area of the target vehicle based on a result of forward detecting, and determining the possibility of forward avoidance as avoiding the target vehicle through the left avoidance path when the object is not located in the left-side avoidance area.

16. The method according to claim 14 further comprising:

determining, by the first controller, an avoidance path for the vehicle to avoid in the determined left-side avoidance area or the right-side avoidance area, and wherein

determining, by the first controller, a possibility of forward avoidance of the vehicle, comprising determining whether an object is located in the right-side avoidance area of the target vehicle based on a result of forward detecting, and determining the possibility of forward avoidance as avoiding the target vehicle through the determined right avoidance path when the object is not located in the right-side avoidance area, and

determining, by the third controller, whether the object is located in the right-side avoidance area and the left-side avoidance area of the target vehicle based on a result of forward detecting, and determining that the possibility of forward avoidance is that the vehicle cannot avoid the target vehicle if the object is located in the right-side avoidance area and the left-side avoidance area.

17. The method according to claim 13 , wherein

determining, by the second controller, the possibility of side avoidance of the vehicle comprises determining a lane change path for the vehicle to avoid the target vehicle based on the detected object, and determining the possibility of side avoidance of the vehicle with respect to the target vehicle based on the determined lane change path by the second controller,

determining, by the third controller, whether the object is located in the left-side of the vehicle based on a result of side detecting of the side detection sensor, and determining the possibility of side avoidance to avoid the target vehicle through the determined left lane change path when the object is not located in the left-side of the vehicle,

determining, by the third controller, whether the object is located in the right-side of the vehicle based on a result of side detecting of the side detection sensor, and determining the possibility of side avoidance to avoid the target vehicle through the determined right lane change path when the object is not located in the right-side of the vehicle, and

determining, by the third controller, whether the object is located in the right-side and left-side of the vehicle based on a result of side detecting of the side detection sensor, and determining that the possibility of side avoidance is that the vehicle cannot avoid the target vehicle when the object is located in the right-side and the left-side of the vehicle.

18. The method according to claim 13 further comprising:

increasing a braking amount of the vehicle to be greater than a predetermined value if the final avoidance possibility determined from the first controller and the second controller is matched to the possibility of avoiding driving determined by the third controller, and

decreasing a braking amount of the vehicle to be less than the predetermined value if the final avoidance possibility determined from the first controller and the second controller is not matched to the possibility of avoiding driving determined by the third controller.

19. The method according to claim 13 further comprising:

advancing a braking time point of the vehicle to be earlier than a predetermined time point if the final avoidance possibility determined from the first controller and the second controller is matched to the possibility of avoiding driving determined by the third controller, and

delaying the braking time point of the vehicle to be later than the predetermined time point if the final avoidance possibility determined from the first controller and the second controller is not matched to the possibility of avoiding driving determined by the third controller.

20. The method according to claim 13 further comprising:

advancing a collision warning time point of the vehicle to be earlier than a predetermined time point if the final avoidance possibility determined from the first controller and the second controller is matched to the possibility of avoiding driving determined by the third controller, and

delaying the collision warning time point of the vehicle to be later than the predetermined time point if the final avoidance possibility determined from the first controller and the second controller is not matched to the possibility of avoiding driving determined by the third controller.