CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is based on and claims priority to Korean Patent Application No. 10-2019-0076367, filed on Jun. 26, 2019 in the Korean Intellectual Property Office, the disclosure of which is incorporated by reference in its entirety.

TECHNICAL FIELD

The present disclosure relates to a vehicle and a method of controlling the vehicle, and more particularly, to a technology for avoiding collision with a forward obstacle through steering control while the vehicle is driving.

BACKGROUND

Generally, vehicles are driven on roads or tracks to transport people or goods to destinations. Vehicles are able to move to various locations on one or more wheels mounted onto the frame of the vehicle. Such vehicles may be classified into three- or four-wheel vehicles, a two-wheel vehicle such as a motorcycle, construction machinery, bicycles, trains traveling along rails on tracks, and the like.

In modern society, vehicles are the most common transportation means, and people using the vehicles have been increasing. With the development of automotive technology, there are advantages of traveling long distances, but problems also often arise in traffic conditions worsen and traffic jams increase where population densities are high.

To relieve burdens and increase convenience of a driver, recent studies regarding vehicles equipped with an Advanced Driver Assist System (ADAS) that actively provides information regarding a state of the vehicle, a state of the driver, and surrounding conditions are actively ongoing.

Examples of the ADAS equipped within the vehicle include Smart Cruise Control System, Lane Keeping Assist System, Lane Following Assist and Lane Departure Warning System, Forward Collision Avoidance (FCA), and Autonomous Emergency Brake (AEB). The systems are systems that avoid collision through emergency braking by determining a risk of collision with an opposing vehicle or a crossover vehicle while the vehicle is being driven, control the vehicle to drive while maintaining a distance from a preceding vehicle, or assist the vehicle not to depart from a driving lane.

The FCA is a system that assists collision avoidance through braking in the case of a risk of collision with a forward obstacle while the vehicle is driving. In this case, a braking distance increases as a driving speed of the vehicle increases. Therefore, when the braking distance is not sufficiently secured, the collision should not be avoided through braking in the case of the risk of collision with the forward obstacle and the collision should be avoided through steering control.

Recently, when the vehicle avoids collision with the forward obstacle through the steering control, the importance of a technology that can avoid collision without departing the driving lane is increasing.

SUMMARY

An aspect of the present disclosure is to provide a vehicle for performing steering control without departing a lane in which the vehicle is driving when collision with a forward obstacle is avoided through steering while the vehicle is driving, and a method of controlling the vehicle.

Additional aspects of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

In accordance with an aspect of the present disclosure, a vehicle includes: a sensor configured to detect an obstacle of a front side of the vehicle to obtain at least one of position information or speed information of the obstacle; a lane detector configured to detect a lane on which the vehicle is located; and a controller configured to calculate a first lateral movement distance for the vehicle to avoid a forward obstacle through steering, to determine a steering-based avoidance path for the obstacle based on the first lateral movement distance, to determine whether to depart the lane on the determined steering-based avoidance path, and to control the vehicle to perform steering avoidance control when the vehicle does not depart the lane.

The controller may calculate the lateral movement distance for the vehicle to avoid steering to a left side of the obstacle and the lateral movement distance for the vehicle to avoid steering to a right side of the obstacle, based on the position information of the obstacle, width information of the vehicle, and width information of the obstacle.

The controller may determine a path having a short lateral movement distance among the lateral movement distance of the determined left steering-based avoidance path and the lateral movement distance of the determined right steering-based avoidance path as the steering-based avoidance path for the obstacle.

After the vehicle avoids the forward obstacle through steering, the controller may calculate the lateral movement distance for the vehicle to return to a driving direction before steering avoidance starts through steering in a direction opposite to a steering direction.

The controller may calculate a total lateral movement distance for the vehicle to avoid the forward obstacle through steering by summing the lateral movement distance for the vehicle to avoid steering the forward obstacle and the lateral movement distance for the vehicle to return to the driving direction after the steering avoidance starts.

The controller may determine a distance from the vehicle to the lane based on lane information detected by the lane detector, and to compare the calculated total lateral movement distance with the distance from the vehicle to the lane to determine whether the vehicle departs the lane on the steering-based avoidance path of the vehicle.

When the calculated total lateral movement distance is shorter than the distance from the vehicle to the lane, the controller may determine that the vehicle does not depart the detected lane on the steering-based avoidance path.

When the calculated total lateral movement distance is longer than the distance from the vehicle to the lane, the controller may determine that the vehicle departs the detected lane on the steering-based avoidance path.

When it is determined that the vehicle departs the detected lane on the steering-based avoidance path, the controller may control the vehicle not to perform the steering avoidance control and control braking of the vehicle.

In accordance with another aspect of the present disclosure, a method of controlling a vehicle includes: detecting, by a sensor, an obstacle of a front side of the vehicle to obtain at least one of position information or speed information of the obstacle; calculating, by a controller, a first lateral movement distance for the vehicle to avoid the obstacle through steering; determining, by the controller, a steering-based avoidance path for the obstacle based on the first lateral movement distance; detecting, by a lane detector, a lane on which the vehicle is located; determining, by the controller, whether to depart the lane on the steering-based avoidance path; and controlling, by the controller, the vehicle to perform steering avoidance control when the vehicle does not depart the lane.

The calculating of the controller, a lateral movement distance may include calculating the lateral movement distance for the vehicle to avoid steering to a left side of the obstacle and the lateral movement distance for the vehicle to avoid steering to a right side of the obstacle, based on the position information of the obstacle, width information of the vehicle, and width information of the obstacle.

The determining of the steering-based avoidance path for the obstacle may include determining a path having a short lateral movement distance among the lateral movement distance of the determined left steering-based avoidance path and the lateral movement distance of the determined right steering-based avoidance path as the steering-based avoidance path for the obstacle.

The method may further include, after the vehicle avoids the forward obstacle through steering, calculating, by the controller, the lateral movement distance for the vehicle to return to a driving direction before steering avoidance starts through steering in a direction opposite to a steering direction.

The method may further include calculating, by the controller, a total lateral movement distance for the vehicle to avoid the forward obstacle through steering by summing the lateral movement distance for the vehicle to avoid steering the forward obstacle and the lateral movement distance for the vehicle to return to the driving direction after the steering avoidance starts.

The method may further include determining, by the controller, a distance from the vehicle to the lane based on lane information detected by the lane detector. The determining of whether the vehicle departs the lane may include determining whether the vehicle departs the lane on the steering-based avoidance path of the vehicle by comparing the calculated total lateral movement distance with the distance from the vehicle to the lane.

The determining of whether the vehicle departs the lane may include determining that the vehicle does not depart the detected lane on the steering-based avoidance path when the calculated total lateral movement distance is shorter than the distance from the vehicle to the lane.

The determining of whether the vehicle departs the lane may include determining that the vehicle departs the detected lane on the steering-based avoidance path when the calculated total lateral movement distance is longer than the distance from the vehicle to the lane.

The method may further include, when it is determined that the vehicle departs the detected lane on the steering-based avoidance path, controlling, by the controller, the vehicle not to perform the steering avoidance control and controlling braking of the vehicle.

