Method, apparatus, and computer program for avoiding collision of autonomous vehicle

1. A method for avoiding a collision of an autonomous vehicle, the method being performed by a computing apparatus, the method comprising:

setting a collision detection area of a first vehicle and a collision detection area of at least one collision detection target based on a state of the first vehicle and the collision detection target at a location adjacent to the first vehicle; wherein each of the collision detection area of the first vehicle and the collision detection area of the collision detection target includes a first collision detection area and a second collision detection area, and

determining a possibility of a collision between the first vehicle and the collision detection target using the collision detection area of the first vehicle and the collision detection area of the collision detection target;

wherein setting the collision detection areas comprises maintaining an attribute of the first collision detection area and changing an attribute of the second collision detection area in response to a change in the state of the first vehicle and the collision detection target,

wherein the collision detection area of the first vehicle includes a plurality of second collision detection areas having different sizes;

wherein the plurality of second collision detection areas include a collision detection area for determining a possibility of a collision with a guardrail, a collision detection area for determining a possibility of a collision with the second vehicle adjacent to the first vehicle, and a collision detection area having a largest size among the plurality of second collision detection areas, and

wherein different criteria are applied to the plurality of second collision detection areas to determine the possibility of the collision between the first vehicle and the collision detection target.

2. The method of claim 1 , wherein changing the attribute of the second collision detection area comprises:

increasing a size of the second collision detection area of the first vehicle in response to an increase in a speed of the first vehicle and the collision detection target; and

decreasing a size of the second collision detection area of the first vehicle in response to a decrease in a speed of the first vehicle and the collision detection target such that the second collision detection area of the first vehicle is equal to or larger than the first collision detection area of the first vehicle.

3. The method of claim 1 , wherein:

each of the first collision detection area and the second collision detection area comprises at least one detection area having a predetermined size and shaped in a circular form; and

the changing of the attribute of the second collision detection area comprises:

increasing an interval of the at least one detection area included in the second collision detection area in response to an increase in a speed of the first vehicle and the collision detection target; and

decreasing the interval of the at least one detection area included in the second collision detection area in response to a decrease in the speed of the first vehicle and the collision detection target.

4. The method of claim 1 , wherein:

each of the first collision detection area and the second collision detection area comprises at least one detection area having a predetermined size and formed in a circular shape; and

the changing of the attribute of the second collision detection area comprises:

increasing a number of the at least one detection area included in the second collision detection area in response to an increase in a speed of the first vehicle and the collision detection target; and

decreasing a number of the at least one detection area included in the second collision detection area in response to a decrease in the speed of the first vehicle and the collision detection target.

5. The method of claim 4 , wherein the increasing of the number of the at least one detection area comprises disposing the increased at least one detection area in front of the first vehicle and the collision detection target, and the increased at least one detection area is disposed on a preset path when there is the path preset for each of the first vehicle and the collision detection target.

6. The method of claim 1 , wherein:

the collision detection target is the second vehicle adjacent to the first vehicle;

the setting of the collision detection area comprises changing an attribute of the second collision detection area of the first vehicle and the collision detection area of the second vehicle based on a path preset for the first vehicle and a speed of the first vehicle and a path preset for the second vehicle and a speed of the second vehicle; and

the determining of the possibility of the collision between the first vehicle and the collision detection target comprises determining the possibility of a-the collision with the second vehicle based on whether the collision detection area of the first vehicle and the collision detection area of the second vehicle overlap each other and whether a-the path preset for the first vehicle and the path preset for the second vehicle overlap each other.

7. The method of claim 1 , wherein the determining of the possibility of the collision between the first vehicle and the collision detection target comprises:

determining that the first vehicle and the collision detection target are in a collision state when the first collision detection area of the first vehicle and the first collision detection area of the collision detection target at least partially overlap each other;

determining that the first vehicle and the collision detection target are in a collision risk state when the first collision detection area of the first vehicle and the first collision detection area of the collision detection target do not overlap each other and the first collision detection area of the first vehicle and the second collision detection area of the collision detection target at least partially overlap each other;

determining that the first vehicle and the collision detection target are in a collision caution state when the first collision detection area of the first vehicle and the second collision detection area of the collision detection target do not overlap each other and the second collision detection area of the first vehicle and the second collision detection area of the collision detection target at least partially overlap each other; and

determining that the first vehicle and the collision detection target are in a safe state when the second collision detection area of the first vehicle and the second collision detection area of the collision detection target do not overlap each other.

8. The method of claim 7 , wherein:

the collision detection target comprises a plurality of objects including a first object, and

determining of the possibility of the collision between the first vehicle and the collision detection target comprises excluding the first object from the collision detection target to reduce an amount of computation when it is determined that the first vehicle and the collision detection target are in the safe state.

9. The method of claim 7 , wherein:

determining the possibility of the collision between the first vehicle and the collision detection target comprises calculating a score for each of a plurality of travel paths including a travel path preset for the first vehicle by scoring the possibility of the collision with the collision detection target when the first vehicle travels along each of the plurality of travel paths; and

the method further comprises setting a travel path having the a highest calculated score among the plurality of travel paths as an avoidance path for the first vehicle when the first vehicle and the collision detection target are in at least one of the collision risk state and the collision caution state.

10. The method of claim 1 , wherein determining the possibility of the collision between the first vehicle and the collision detection target comprises:

predicting a change in a state of the first vehicle and the collision detection target; and

determining the possibility of the collision between the first vehicle and the collision detection target based on the predicted change in the state of the first vehicle and the collision detection target.

11. An apparatus comprising:

memory configured to store one or more instructions; and

a processor configured to execute the one or more instructions stored in the memory;

wherein the processor performs the method of claim 1 by executing the one or more instructions.

12. A non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, causes the processor to perform the method of claim 1 .