Vehicle and a method for controlling thereof
A method for controlling a vehicle is disclosed. The method includes determining whether one or more objects are present on both side lanes of the vehicle in response to identification of a front object positioned on a lane in which the vehicle is positioned. The method also includes determining, when the one or more objects are present on both side lanes of the vehicle, whether steering for avoiding collision with the one or more objects on both side lanes of the vehicle is possible based on physical quantity information of the vehicle and the front object. The method additionally includes determining a braking control time of the vehicle based on the determination of whether steering for avoiding collision is possible. The method further includes controlling brakes of the vehicle at the determined braking control time.
1 . A method for controlling a vehicle, the method comprising:
determining whether one or more objects are present on both side lanes of the vehicle in response to identification of a front object positioned on a lane in which the vehicle is positioned, wherein determining whether the one or more objects are present on both side lanes of the vehicle includes determining whether a road edge object or a general obstacle is present on at least one of the both side lanes of the vehicle;
determining a safety zone for the vehicle based on physical quantity information of the vehicle and the front object, when the one or more objects are present on both side lanes of the vehicle;
determining whether steering for avoiding collision with the one or more objects on both side lanes of the vehicle is possible based on the determined safety zone, including:
determining whether a first collision occurs between the safety zone and the front object based on four first straight lines of edges of the safety zone and four second straight lines of edges of an object box indicating the front object, when the road edge object is present on at least one of the both side lanes,
determining whether a second collision occurs between the safety zone and the road edge object based on the four first straight lines and a third straight line connecting points of the road edge object, and
determining whether steering for avoiding collision is possible based on a result of determining whether the first collision occurs and a result of determining whether the second collision occurs;
determining a braking control time of the vehicle based on the determination of whether steering for avoiding collision is possible; and
controlling brakes of the vehicle at the determined braking control time.
2 . The method of claim 1 , wherein the identification of the front object and the determination of whether the one or more objects are present on both side lanes of the vehicle are based on data of a sensor including at least one of a camera, a radar, or a LiDAR.
3 . The method of claim 1 , wherein determining the safety zone of the vehicle includes determining a longitudinal length of the safety zone based on a relative distance, a relative speed, and a relative acceleration with respect to the front object and determining a width of one lane of a road where the vehicle travels as a lateral length of the safety zone.
4 . The method of claim 1 , wherein determining whether the first collision occurs includes determining at least one intersection point between the four first straight lines and the four second straight lines and determining that the safety zone collides with the front object when the at least one intersection point is positioned in the safety zone.
5 . The method of claim 1 , wherein determining whether the second collision occurs includes determining at least one intersection point between the four first straight lines and the third straight line and determining that the safety zone collides with the front object when the at least one intersection points is positioned in the safety zone.
6 . The method of claim 1 , wherein determining whether steering for avoiding collision is possible includes determining whether steering for avoiding collision is possible for the general obstacle based on a comparison between a longitudinal length of the safety zone and a longitudinal length of the general obstacle when the general obstacle is present on at least one of the both side lanes.
7 . The method of claim 6 , wherein determining whether steering for avoiding collision is possible includes:
determining a first coordinate of an outermost point of the front object closest to the general obstacle, determining a second coordinate of an outermost point of the general obstacle closest to the front object,
determining a separated distance between the front object and the general obstacle based on the first coordinate and the second coordinate, and
determining whether steering for avoiding collision is possible for the general obstacle based on the comparison between the separated distance and a width of one lane of a road where the vehicle travels.
8 . A vehicle comprising:
an interface configured to receive data from a sensor; and
a processor configured to be communicatively or electrically connected to the interface,
wherein the processor is configured to:
identify a front object positioned on a same lane as the vehicle based on the data received through the interface,
determine whether one or more objects are present on both side lanes of the vehicle based on the data received through the interface in response to identification of the front object, wherein the processor is configured to determine whether a road edge object or a general obstacle is present on at least one of the both side lanes of the vehicle,
determine a safety zone for the vehicle based on physical quantity information of the vehicle and the front object, when the one or more objects are present on both side lanes of the vehicle,
determine whether steering for avoiding collision with the one or more objects on the both side lanes of the vehicle based on the determined safety zone, wherein the processor is configured to:
determine a first collision between the safety zone and the front object based on four first straight lines of edges of the safety zone and four second straight lines of edges of an object box indicating the front object,
determine a second collision between the safety zone and the road edge object based on the four first straight lines and a third straight line connecting points of the road edge object, and
determine whether steering for avoiding collision is possible based on a result of determining whether the first collision occurs and a result of determining whether the second collision occurs,
determine a braking control time of the vehicle based on the determination of whether steering for avoiding collision is possible, and
output a control signal to enable a braking control of the vehicle at the braking control time.
9 . The vehicle of claim 8 , wherein the sensor comprises at least one of a camera, a radar, or a LiDAR.
10 . The vehicle of claim 8 , wherein the processor is further configured to:
determine a longitudinal length of the safety zone based on a relative distance, a relative speed, and a relative acceleration of the front object, and
determine a width of one lane of a road where the vehicle travels as a lateral length of the safety zone.
11 . The vehicle of claim 8 , wherein the processor is configured to:
determine at least one intersection point between the four first straight lines and the four second straight lines, and
determine that the safety zone and the front object collide when the at least one intersection point is positioned in the safety zone.
12 . The vehicle of claim 8 , wherein the processor is further configured to:
determine at least one intersection point between the four first straight lines and the third straight line, and
determine that the safety zone and the front object collide when the at least one intersection point is positioned in the safety zone.
13 . The vehicle of claim 8 , wherein the processor is further configured to determine whether steering for avoiding collision is possible with respect to the general obstacle based on a comparison between a longitudinal length of the safety zone and a longitudinal length of the general obstacle, when the general obstacle is present on at least one of the both side lanes.
14 . The vehicle of claim 13 , wherein the processor is further configured to:
determine a first coordinate of an outermost point of the front object closest to the general obstacle, determine a second coordinate of an outermost point of the general obstacle closest to the front object,
determine a separated distance between the front object and the general obstacle based on the first coordinate and the second coordinate, and
determine whether steering for avoiding collision is possible for the general obstacle based on the comparison between the separated distance and a width of one lane of a road where the vehicle travels.