Vehicle and control method considering risk of vehicle
A vehicle configured to perform collision avoidance control includes a steering device, a brake device, an output device, and a controller. When there is a risk of collision between the vehicle and an external object, the controller determines a dangerous state and a collision risk level according to signals received from an operating device being operated by a driver, determines a collision avoidance method, a collision avoidance time point, and a control amount for collision avoidance, based on at least one of the dangerous state and the collision risk level, and controls at least one of the steering device, the brake device, and the output device such that the vehicle performs collision avoidance control, based on the collision avoidance method, the collision avoidance time point, and the control amount for the collision avoidance.
1 . A vehicle of performing collision avoidance control, the vehicle comprising:
a steering device;
a brake device;
an output device; and
a controller electrically connected to the steering device, the brake device, and the output device and configured to:
determine an operating device being operated by a driver of the vehicle;
when there is a risk of collision between the vehicle and an external object, determine a dangerous state and a dangerous level according to signals received from the operating device being operated by the driver of the vehicle;
determine a collision avoidance method, a collision avoidance time point, and a control amount for collision avoidance, according to at least one of the determined dangerous state and the determined dangerous level; and
control at least one of the steering device, the brake device, and the output device so that the vehicle is configured to perform the collision avoidance control, according to the determined collision avoidance method, the determined collision avoidance time point, and the determined control amount for the collision avoidance,
wherein the controller is further configured to:
determine current positions of hands of the driver according to signals received from the operating device being operated by the driver;
determine a distance between the current positions of the hands of the driver and the operating device including a steering wheel operated by the driver; and
determine the dangerous state and the dangerous level according to a magnitude of the determined distance between the current positions of the hands of the driver and the operating device operated by the driver and the determined operating device being operated by the driver, and
wherein the controller is further configured to determine the dangerous state and the dangerous level in stages based on the magnitude of the distance between the current positions of hands of the driver and the operating device, and the determined operating device being operated by the driver, and
wherein the controller is further configured to determine the dangerous state and the dangerous level based on a number of physical manipulation stages of the operating device, a complexity of physical manipulation stages, a long-pressing finger action required to operate the operating device, and an action for applying physical force of the driver.
2 . The vehicle of claim 1 , wherein the dangerous state includes at least one of a first state, in which guaranteeing a field of view (FOV) of the driver is impossible, a second state, in which operation of the steering wheel in the steering device by the driver is impossible, and a third state, in which depression of a brake pedal in the brake device by the driver is impossible.
3 . The vehicle of claim 1 , wherein the operating device includes at least one of the steering wheel, a gearshifting device, a rear-view mirror operating device, side-view mirrors, a window operating device, a User Setting Mode (USM) device, and a display device.
4 . The vehicle of claim 1 , wherein
when the controller concludes that the dangerous level is high, the controller is configured to determine the collision avoidance time point to be a time point within a predetermined time period; and
when the controller concludes that the dangerous level is high, the controller is configured to determine the control amount for the collision avoidance to be greater than a predetermined control amount for the collision avoidance.
5 . The vehicle of claim 1 , wherein the controller is configured to determine a distance between the driver and the operating device being operated by the driver.
6 . The vehicle of claim 5 , wherein when the controller concludes that the distance between the driver and the operating device being operated by the driver is longer than a predetermined distance, the controller is configured to determine that the dangerous level is high.
7 . The vehicle of claim 5 , wherein when the controller concludes that the distance between the driver and the operating device being operated by the driver is shorter than a predetermined distance, the controller is configured to determine that the dangerous level is low.
8 . The vehicle of claim 1 , wherein the controller is configured to determine the dangerous level, according to the number of the physical manipulation stages of the driver who is operating the operating device.
9 . The vehicle of claim 1 , wherein the controller is configured to determine the dangerous level, according to a number of menus displayed on the operating device being operated by the driver, a method for selecting the menus, and presence or absence of a scroll bar displayed on the operating device.
10 . A method of controlling a vehicle for performing collision avoidance control,
the method comprising:
determining, by a controller, an operating device being operated by a driver of the vehicle;
when there is a risk of collision between the vehicle and an external object, determining, by the controller, a dangerous state and a dangerous level according to signals received from the operating device being operated by the driver of the vehicle;
determining, by the controller, a collision avoidance method, a collision avoidance time point, and a control amount for collision avoidance, according to at least one of the determined dangerous state and the determined dangerous level; and
controlling, by the controller, at least one of a steering device, a brake device, and an output device so that the vehicle is configured to perform the collision avoidance control according to the determined collision avoidance method, the determined collision avoidance time point, and the determined control amount for the collision avoidance,
wherein the determining the dangerous state and the dangerous level further comprises:
determining, by the controller, current positions of hands of the driver according to signals received from the operating device being operated by the driver;
determining, by the controller, a distance between the current positions of the hands of the driver and the operating device including a steering wheel operated by the driver; and
determining, by the controller, the dangerous state and the dangerous level according to a magnitude of the determined distance between the current positions of the hands of the driver and the operating device operated by the driver and the determined operating device being operated by the driver,
wherein the determining the dangerous state and the dangerous level further comprises determining the dangerous state and the dangerous level in stages based on the magnitude of the distance between the current positions of hands of the driver and the operating device, and the determined operating device being operated by the driver, and
wherein determining the dangerous state and the dangerous level is based on a number of physical manipulation stages of the operating device, a complexity of physical manipulation stages, a long-pressing finger action required to operate the operating device, and an action for applying physical force of the driver.
11 . The method of claim 10 , wherein the dangerous state includes at least one of a first state, in which guaranteeing a field of view (FOV) of the driver is impossible, a second state, in which operation of the steering wheel in the steering device by the driver is impossible, and a third state, in which depression of a brake pedal in the brake device by the driver is impossible.
12 . The method of claim 10 , wherein the operating device includes at least one of the steering wheel, a gearshifting device, a rear-view mirror operating device, side-view mirrors, a window operating device, a User Setting Mode (USM) device, and a display device.
13 . The method of claim 10 , further including:
when the controller concludes that the dangerous level is high, determining, by the controller, the collision avoidance time point to be a time point within a predetermined time period; and
when the controller concludes that the dangerous level is high, determining, by the controller, the control amount for the collision avoidance to be greater than a predetermined control amount for the collision avoidance.
14 . The method of claim 10 , further including:
determining, by the controller, a distance between the driver and the operating device being operated by the driver.
15 . The method of claim 14 , wherein
when the controller concludes that the distance between the driver and the operating device being operated by the driver is longer than a predetermined distance, determining, by the controller, that the dangerous level is high.
16 . The method of claim 14 , wherein
when the controller concludes that the distance between the driver and the operating device being operated by the driver is shorter than a predetermined distance, determining, by the controller, that the dangerous level is low.
17 . The method of claim 10 , further including:
determining, by the controller, the dangerous level, according to the number of the physical manipulation stages of the driver who is operating the operating device.
18 . The method of claim 10 , further including:
determining, by the controller, the dangerous level, according to a number of menus displayed on the operating device being operated by the driver, a method for selecting the menus, and presence or absence of a scroll bar displayed on the operating device.