Apparatus and method for controlling a vehicle

1 . A vehicle control apparatus comprising:

a collision risk determination device;

a collision determination device; and

a processor configured to:

determine whether a second vehicle is present within a specified distance from a first vehicle, through the collision risk determination device;

determine a type of the second vehicle;

obtain an impact value associated with a collision between the first vehicle and the second vehicle based on an acceleration acting on the first vehicle, a yaw rate of the first vehicle, and a roll rate of the first vehicle through the collision determination device;

identify the second vehicle within the specified distance from the first vehicle for a specified time;

identify the collision between the first vehicle and the second vehicle based on the impact value exceeding an impact threshold value for the specified time, wherein the impact threshold value is determined based on the type of the second vehicle; and

change a driving mode of the first vehicle from a first mode associated with an autonomous driving mode to a second mode controlled by a user based on a result of identifying the collision between the first vehicle and the second vehicle.

2 . The vehicle control apparatus of claim 1 , wherein the acceleration acting on the first vehicle includes a lateral acceleration acting in a lateral direction of the first vehicle, a longitudinal acceleration acting in a longitudinal direction of the first vehicle, and a vertical acceleration acting in a vertical direction of the first vehicle.

3 . The vehicle control apparatus of claim 1 , further comprising:

a communication circuit,

wherein the processor is configured to:

receive object information including the type of the second vehicle and a state of the second vehicle through the communication circuit; and

change the impact threshold value based on the object information.

4 . The vehicle control apparatus of claim 3 , wherein the processor is configured to:

change the impact threshold value to a first impact threshold value when the type of the second vehicle is a first type indicating at least one of a pedestrian, a bicycle, a two-wheeled vehicle, or any combination thereof;

change the impact threshold value to a second impact threshold value exceeding the first impact threshold value when the type of the second vehicle is a second type indicating a passenger vehicle; and

change the impact threshold value to a third impact threshold value exceeding the second impact threshold value when the type of the second vehicle is a third type indicating at least one of a truck, a bus, or any combination thereof.

5 . The vehicle control apparatus of claim 3 , wherein the state of the second vehicle includes at least one of a speed of the second vehicle, a direction in which the second vehicle approaches the first vehicle, or any combination thereof.

6 . The vehicle control apparatus of claim 3 , wherein the processor is configured to:

apply a first weight to the impact threshold value based on the type of the second vehicle; and

apply a second weight to the impact threshold value based on a relative speed between the second vehicle and the first vehicle.

7 . The vehicle control apparatus of claim 1 , further comprising:

a communication circuit,

wherein the processor is configured to:

change the driving mode of the first vehicle from the first mode to the second mode and concurrently reduce a speed of the first vehicle when the impact value exceeds the impact threshold value and a difference between the impact value and the impact threshold value exceeds a reference value; and

transmit a signal indicating that the first vehicle is in an emergency state, to an external electronic device including a server through the communication circuit.

8 . The vehicle control apparatus of claim 1 , wherein the processor is configured to:

make a request for changing the driving mode of the first vehicle from the first mode to the second mode based on a fact that the impact value exceeds the impact threshold value, and a difference between the impact value and the impact threshold value is smaller than or equal to a reference value; and

restrict an acceleration of the first vehicle.

9 . The vehicle control apparatus of claim 1 , wherein the impact threshold value includes a threshold acceleration, a threshold yaw rate, and a threshold roll rate, and

wherein the processor is configured to:

identify that the impact value exceeds the impact threshold value, based on a fact that the acceleration acting on the first vehicle exceeds the threshold acceleration, the yaw rate of the first vehicle exceeds the threshold yaw rate, and the roll rate of the first vehicle exceeds the threshold roll rate; and

identify the collision between the first vehicle and the second vehicle based on the impact value exceeding an impact threshold value.

10 . A vehicle control method, the method comprising:

determining, by a processor, whether a second vehicle is present within a specified distance from a first vehicle, through a collision risk determination device;

determining a type of the second vehicle;

obtaining an impact value associated with a collision between the first vehicle and the second vehicle based on an acceleration acting on the first vehicle, a yaw rate of the first vehicle, and a roll rate of the first vehicle through a collision determination device;

identifying the second vehicle within the specified distance from the first vehicle for a specified time;

identifying the collision between the first vehicle and the second vehicle based on the impact value exceeding an impact threshold value for the specified time, wherein the impact threshold value is determined based on the type of the second vehicle; and

changing a driving mode of the first vehicle from a first mode associated with an autonomous driving mode to a second mode controlled by a user based on identifying the collision between the first vehicle and the second vehicle.

11 . The method of claim 10 , wherein the acceleration acting on the first vehicle includes a lateral acceleration acting in a lateral direction of the first vehicle, a longitudinal acceleration acting in a longitudinal direction of the first vehicle, and a vertical acceleration acting in a vertical direction of the first vehicle.

12 . The method of claim 10 , further comprising:

receiving object information including type of the second vehicle and a state of the second vehicle through a communication circuit; and

changing the impact threshold value based on the object information.

13 . The method of claim 12 , further comprising:

changing the impact threshold value to a first impact threshold value based on the type of the second vehicle determined as a first type indicating at least one of a pedestrian, a bicycle, a two-wheeled vehicle, or any combination thereof;

changing the impact threshold value to a second impact threshold value exceeding the first impact threshold value based on the type of the second vehicle determined as a second type indicating a passenger vehicle; and

changing the impact threshold value to a third impact threshold value exceeding the second impact threshold value based on the type of the second vehicle determined as a third type indicating at least one of a truck, a bus, or any combination thereof.

14 . The method of claim 12 , wherein the state of the second vehicle includes at least one of a speed of the second vehicle, a direction in which the second vehicle approaches the first vehicle, or any combination thereof.

15 . The method of claim 12 , further comprising:

applying a first weight to the impact threshold value based on the type of the second vehicle; and

applying a second weight to the impact threshold value based on a relative speed between the second vehicle and the first vehicle.

16 . The method of claim 10 , further comprising:

changing the driving mode of the first vehicle from the first mode to the second mode and concurrently reducing a speed of the first vehicle based on the impact value exceeding the impact threshold value and a difference, between the impact value and the impact threshold value, exceeding a reference value; and

transmitting a signal indicating that the first vehicle is in an emergency state, to an external electronic device including a server through a communication circuit.

17 . The method of claim 10 , further comprising:

making a request for changing the driving mode of the first vehicle from the first mode to the second mode based on a fact that the impact value exceeds the impact threshold value, and a difference between the impact value and the impact threshold value is smaller than or equal to a reference value; and

restricting an acceleration of the first vehicle.

18 . The method of claim 10 , further comprising:

identifying that the impact value exceeds the impact threshold value, based on a fact that the acceleration acting on the first vehicle exceeds a threshold acceleration, the yaw rate of the first vehicle exceeds a threshold yaw rate, and the roll rate of the first vehicle exceeds a threshold roll rate, wherein the impact threshold value includes the threshold acceleration, the threshold yaw rate, and the threshold roll rate; and

identifying the collision between the first vehicle and the second vehicle based on the impact value exceeding the impact threshold value.