Vehicle for avoiding collision and method of operating the vehicle
Various embodiments of the present disclosure relate to a vehicle for avoiding collisions and a method of operating the vehicle. In an embodiment, a vehicle for avoiding a collision can include a plurality of sensors configured to obtain surrounding environment information and a processor operatively connected to the plurality of sensors. The processor can determine whether a line of a driving lane is at least partially detected based on line detection information included in the surrounding environment information, determine a maximum lateral movement distance for in-lane collision avoidance based on a position of the line when the line is at least partially detected, and determine the maximum lateral movement distance for in-lane collision avoidance based on a preset value when the line is not detected.
1 . A vehicle comprising:
a plurality of sensors configured to obtain surrounding environment information; and
a processor operatively coupled to the plurality of sensors, the processor being configured to:
determine whether a line of a driving lane is at least partially detected based on line detection information included in the surrounding environment information,
determine a maximum lateral movement distance for in-lane collision avoidance based on a position of the line in response to the line being at least partially detected, and
determine the maximum lateral movement distance for in-lane collision avoidance based on a preset value in response to the line being not detected, wherein the maximum lateral movement distance is determined to maintain the driving lane while avoiding a collision with surrounding objects; and
a controller configured so the vehicle will avoid the collision based on the maximum lateral movement distance.
2 . The vehicle of claim 1 , wherein the processor is configured to:
estimate line information on an undetected line in response to the line being at least partially detected; and
determine the maximum lateral movement distance based on the estimated line information, the estimated line information including one of or any combination of a position or curvature of the undetected line, a rate of change in the curvature, and a road slope.
3 . The vehicle of claim 1 , wherein the case where a line is at least partially detected includes one of or both of, a case where one line of lines on both sides of the driving lane is detected and the other line is not detected, and a case where there is detected information on a previous line located in a rear area of the vehicle but current lines on both sides of the vehicle located in a front area of the vehicle are not detected, and
wherein the maximum lateral movement distance in response to the other line being not detected and the maximum lateral movement distance in response to the current lines on the both sides being not detected, are determined differently from each other.
4 . The vehicle of claim 3 , wherein the processor is configured to:
estimate information on the other line based on information on the detected one line in response to the one line being detected and the other line being not detected, among the lines on both sides of the driving lane, and
determine a maximum lateral movement distance to the other line based on the information on the other line and a specified first maximum lateral movement distance.
5 . The vehicle of claim 4 , wherein the maximum lateral movement distance to the other line is calculated by subtracting a lateral distance between the one line and the vehicle from the specified first maximum lateral movement distance.
6 . The vehicle of claim 3 , wherein the processor is configured to:
estimate information on the current lines on the both sides based on the detected information on the previous line in response to there being the detected information on the previous line located in the rear area of the vehicle but the current lines on both sides of the vehicle located in the front area of the vehicle being not detected, and
determine a maximum lateral movement distance to one of the current lines on both sides based on the information on the current lines on both sides and a specified second maximum lateral movement distance.
7 . The vehicle of claim 6 , wherein the maximum lateral movement distance to one of the current lines on both sides is determined based on a distance between the current lines on both sides, a width of the vehicle, or a lateral position of the vehicle at a time that detects the previous line, and is limited to a value less than or equal to the specified second maximum lateral movement distance, and
wherein the specified second maximum lateral movement distance has a value less than a specified first maximum lateral movement distance.
8 . The vehicle of claim 1 , wherein the processor is configured to:
determine whether there is a preceding vehicle based on surrounding object information included in the surrounding environment information in response to the line being not detected;
estimate information on the lines on both sides based on a driving trajectory of the preceding vehicle in response to there being the preceding vehicle; and
determine a maximum lateral movement distance to one of the estimated lines on both sides based on the estimated information on the lines on both sides.
9 . The vehicle of claim 8 , wherein the maximum lateral movement distance to one of the estimated lines on both sides is determined based on a lateral position of the vehicle at a previous time point and is limited to a value less than or equal to a specified third maximum lateral movement distance, and
wherein the specified third maximum lateral movement distance has a value less than a specified second maximum lateral movement distance.
10 . The vehicle of claim 9 , wherein the processor is configured to determine when to start an in-lane collision avoidance operation in response to there being no preceding vehicle,
wherein the maximum lateral movement distance for in-lane collision avoidance is limited to a value less than or equal to a default maximum lateral movement distance which is the preset value, and
wherein the default maximum lateral movement distance has a value less than the specified second maximum lateral movement distance.
11 . The vehicle of claim 10 , wherein when to start the in-lane collision avoidance operation is determined based on a lateral distance between the vehicle and a surrounding vehicle with which the vehicle is expected to collide among objects around the vehicle.
12 . An operation method of a vehicle for avoiding a collision, comprising:
obtaining surrounding environment information;
determining whether a line of a driving lane is at least partially detected based on line detection information included in the surrounding environment information;
determining a maximum lateral movement distance for in-lane collision avoidance based on a position of the line in response to the line being at least partially detected; and
determining the maximum lateral movement distance for in-lane collision avoidance based on a preset value in response to the line being not detected, wherein the maximum lateral movement distance is determined to maintain the driving lane while avoiding the collision with surrounding objects; and
controlling the vehicle to avoid the collision based on the maximum lateral movement distance.
13 . The operation method of claim 12 , wherein the determining of the maximum lateral movement distance for in-lane collision avoidance based on the position of the line comprises:
estimating information on an undetected line in response to the line being at least partially detected; and
determining the maximum lateral movement distance based on the estimated information on the line,
wherein the estimated information on the line includes one of or any combination of a position or curvature of the undetected line, a rate of change in the curvature, and a road slope.
14 . The operation method of claim 12 , wherein the case where a line is at least partially detected includes one of or both of a case where one line of lines on both sides of the driving lane is detected and the other line is not detected, and a case where there is detected information on a previous line located in a rear area of the vehicle but current lines on both sides of the vehicle located in a front area of the vehicle are not detected, and
wherein the maximum lateral movement distance in response to the other line being not detected and the maximum lateral movement distance in response to the current lines on the both sides being not detected, are determined differently from each other.
15 . The operation method of claim 14 , wherein the determining of the maximum lateral movement distance for in-lane collision avoidance based on the position of the line comprises:
estimating information on the other line based on information on the detected one line in response to the one line being detected and the other line being not detected among the lines on both sides of the driving lane; and
determining a maximum lateral movement distance to the other line based on the information on the other line and a specified first maximum lateral movement distance.
16 . The operation method of claim 15 , wherein the determining of the maximum lateral movement distance for in-lane collision avoidance based on the position of the line comprises:
estimating information on the current lines on the both sides based on the detected information on the previous line in response to there being detected information on the previous line located in the rear area of the vehicle but the current lines on both sides of the vehicle located in the front area of the vehicle being not detected; and
determining a maximum lateral movement distance to one of the current lines on both sides based on the information on the current lines on both sides and a specified second maximum lateral movement distance,
wherein the specified second maximum lateral movement distance has a value less than the specified first maximum lateral movement distance.
17 . The operation method of claim 16 , wherein the determining of the maximum lateral movement distance for in-lane collision avoidance based on the preset value comprises:
determining whether there is a preceding vehicle based on the surrounding environment information;
estimating information on the lines on both sides based on a driving trajectory of the preceding vehicle in response to there being the preceding vehicle; and
determining a maximum lateral movement distance to one of the estimated lines on both sides based on the estimated information on the lines on both sides and the preset value.
18 . The operation method of claim 17 , wherein the maximum lateral movement distance to one of virtual lines on both sides is determined based on a lateral position of the vehicle at a previous time point and is limited to a value less than or equal to a specified third maximum lateral movement distance, and
wherein the specified third maximum lateral movement distance has a value less than the specified second maximum lateral movement distance.
19 . The operation method of claim 18 , wherein the determining of the maximum lateral movement distance for in-lane collision avoidance based on the preset value comprises determining when to start the in-lane collision avoidance operation in response to there being no preceding vehicle,
wherein the maximum lateral movement distance for in-lane collision avoidance is limited to a value less than or equal to a default maximum lateral movement distance which is the preset value,
wherein the default maximum lateral movement distance is a value less than the specified second maximum lateral movement distance, and
wherein when to start the in-lane collision avoidance operation is determined based on a lateral distance between the vehicle and a surrounding vehicle with which the vehicle is expected to collide among objects around the vehicle.
20 . A vehicle comprising:
a plurality of sensors configured to obtain surrounding environment information; and
a processor operatively coupled to the plurality of sensors, the processor being configured to:
determine whether a line of a driving lane is at least partially detected based on line detection information included in the surrounding environment information,
determine a maximum lateral movement distance for in-lane collision avoidance based on a position of the line in response to the line being at least partially detected, and
determine the maximum lateral movement distance for in-lane collision avoidance based on a preset value in response to the line being not detected,
determine whether there is a preceding vehicle based on surrounding object information included in the surrounding environment information in response to the line being not detected,
estimate information on the lines on both sides based on a driving trajectory of the preceding vehicle in response to there being the preceding vehicle, and
determine a maximum lateral movement distance to one of the estimated lines on both sides based on the estimated information on the lines on both sides, wherein the maximum lateral movement distance to one of the estimated lines on both sides is determined based on a lateral position of the vehicle at a previous time point and is limited to a value less than or equal to a specified third maximum lateral movement distance, the specified third maximum lateral movement distance having a value less than a specified second maximum lateral movement distance; and
a controller configured so the vehicle will avoid the collision based on the maximum lateral movement distance.