Vehicle and control method thereof

Abstract

The present invention relates to a vehicle and a control method thereof. The vehicle and the control method of the vehicle acquire information of a target object in a blind spot based on an object detection result of the vehicle itself and an object detection result received from another vehicle. Specifically, safe driving control of the vehicle is performed based on the acquired information of the target object. The method of controlling the vehicle may include: setting a blind spot around the vehicle based on the object detection result around the vehicle, and performing safe driving control of the vehicle based on the risk level of the target object in the blind spot.

Description

Technical Field

[0001] Embodiments of the present invention relate to a vehicle and safe driving control of the vehicle. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] With the development of sensor technology, various sensors are installed in vehicles and have provided various information for safe driving. For example, sensors use cameras, radio detection and ranging (RADAR), light imaging detection and ranging (LiDAR), etc. to obtain information about the vicinity of the vehicle, and control the vehicle by analyzing the acquired information, thereby preventing accidents.

[0004] However, we have discovered that the vehicle may not be able to adequately react to objects in the blind spot using only the vehicle's own object detection. Summary of the invention

[0005] The present invention provides a vehicle and a control method thereof, which can obtain information about a target object in a blind spot using the vehicle's own object detection result and an object detection result received from another vehicle, and perform safe driving control based on the acquired target object information.

[0006] Additional aspects of the invention 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 invention.

[0007] According to one aspect of the present invention, a method of controlling a vehicle includes setting a blind spot near the vehicle based on a detection result of an object around the vehicle, and performing safe driving control of the vehicle based on a risk level of a target object in the blind spot.

[0008] The object detection result around the vehicle may include an object detection result passing through the vehicle itself and an object detection result passing through another vehicle around the vehicle.

[0009] The step of performing safe driving control of the vehicle may include screening target objects that are in the blind spot or are expected to enter the blind spot based on the object detection result, and setting a range of the screened target objects.

[0010] Performing safe driving control of the vehicle may further include determining a risk level of the target object based on the number of sensors detecting the target object, the type of sensors configured to detect the target object, and a detection frequency.

[0011] When the target object is detected by a plurality of sensors, the risk level of the target object may be set to a first risk level.

[0012] When the target object is detected by a single sensor, the risk level of the target object may be set to a second risk level that is lower than the first risk level.

[0013] When the target object is detected by a single sensor and is detected at a predetermined frequency within a predetermined time, the risk level of the target object may be set to a third risk level lower than the second risk level.

[0014] The safe driving control includes reflecting the risk level and selectively collecting and managing at least one of generating a warning, reducing speed, relaxing the entry conditions of the brake assist system, and deviating from the vehicle according to the risk level of the target object.

[0015] According to another aspect of the present invention, a vehicle includes: a sensor for detecting objects around the vehicle; a communicator for communicating with another vehicle; and a controller configured to set a blind spot near the vehicle based on the object detection result of the sensor, and configured to perform safe driving control of the vehicle considering the risk level of the target object in the blind spot.

[0016] The object detection result around the vehicle may include an object detection result passing through the vehicle itself and an object detection result passing through another vehicle around the vehicle.

[0017] The controller for safe driving control of a vehicle may screen target objects that are in a blind spot or are expected to enter a blind spot based on the object detection result, and may set a range of the screened target objects.

[0018] The controller for safe driving control of a vehicle may determine a risk level of a target object based on the number of sensors detecting the target object, the type of the sensors, and the detection frequency.

[0019] When the target object is detected by a plurality of sensors, the controller may set the risk level of the target object to a first risk level.

[0020] When the target object is detected by a single sensor, the controller may set the risk level of the target object to a second risk level lower than the first risk level.

[0021] When the target object is detected by a single sensor and is detected at a predetermined frequency within a predetermined time, the controller may set the risk level of the target object to a third risk level lower than the second risk level.

[0022] According to the risk level of the target object, the controller may selectively collect and manage at least one of generating a warning, reducing the speed, relaxing the entry condition of the brake assist system, and deviating driving of the vehicle.

[0023] According to another aspect of the present invention, a method for controlling a vehicle includes: setting a blind spot near the vehicle based on object detection results around the vehicle; determining a risk level of the target object based on the number of sensors detecting the target object in the blind spot, the type of sensors, and the detection frequency; and performing safe driving control of the vehicle by selectively collecting and managing some or all of generating warnings, reducing speed, relaxing entry control of a brake assist system, and deviation from the vehicle, according to the risk level of the target object.

[0024] The object detection result around the vehicle may include an object detection result passing through the vehicle itself and an object detection result passing through another vehicle around the vehicle.

[0025] According to another aspect of the present invention, a vehicle includes: a sensor for detecting an object around the vehicle; a communicator for communicating with another vehicle; and a controller configured to set a blind spot around the vehicle based on the object detection result around the vehicle. Specifically, the controller can determine the risk level of the target object based on the number of sensors detecting the target object in the blind spot, the type of the sensor, and the detection frequency, and can also perform safe driving control of the vehicle by selectively collecting and managing some or all of generating warnings, reducing speed, relaxing entry conditions of a brake assist system, and deviating from the vehicle according to the risk level of the target object.

[0026] The object detection result around the vehicle may include an object detection result passing through the vehicle itself and an object detection result passing through another vehicle around the vehicle.

[0027] Further areas of applicability will become apparent from the description provided herein.It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order that the present invention may be better understood, various embodiments of the present invention given by way of example will now be described with reference to the accompanying drawings, in which:

[0029] Figure 1 is a schematic diagram showing a vehicle;

[0030] Figure 2 is a schematic diagram showing a control system of a vehicle;

[0031] Figure 3 is a schematic diagram showing vehicle-to-everything (V2X) communication of a vehicle;

[0032] Figure 4 is a schematic diagram showing a method of controlling a vehicle;

[0033] Figure 5 is a schematic diagram showing an area of ​​interest set by a vehicle;

[0034] Figure 6 is a schematic diagram showing a set blind spot of a vehicle;

[0035] Fig. 7A and Figure 7B is a schematic diagram showing safe driving control of a vehicle;

[0036] Fig. 8A and Figure 8B is a schematic diagram showing a setting range of a target object; and

[0037] Fig. 9 Schematic diagram showing a case where the ranges of the target objects are the same.

[0038] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0039] The following description is merely exemplary in nature and is not intended to limit the invention, its application or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate the same or corresponding components and features.

[0040] Figure 1 A schematic diagram of a vehicle in one embodiment of the present invention is shown. Figure 1 As shown, the vehicle 100 includes: a front camera 102, a front radio detection and ranging (RADAR) 104, a front light imaging detection and ranging (LiDAR) 106, a global positioning system (GPS) device 108, a vehicle-to-everything (V2X) device 110, a controller 112, an electric power steering (MDPS) 122, an electronic stability control (ESC) 124 and a powertrain 126. Figure 2 Describe each device in detail.

[0041] Figure 2 A schematic diagram showing a control system of a vehicle in one embodiment of the present invention.

[0042] A controller 112 is provided to control the operation of the vehicle 100. The controller 112 transmits or receives information by communicating with the front camera 102, the front RADAR 104, the front LiDAR 106, the GPS device 108, and the V2X device 110. In addition, the controller 112 may control the MDPS 122, the ESC 124, and the powertrain 126 by generating control commands for controlling the MDPS 122, the ESC 124, and the powertrain 126. The controller 112 may be an electronic control unit (ECU) provided in the vehicle 100.

[0043] The front camera 102 may be installed near a rearview mirror in the interior space of the vehicle 100 or may be integrally provided in the rearview mirror. The front camera 102 may be provided to generate an image by capturing an image in front of the vehicle 100.

[0044] The front RADAR 104 may be installed in an air intake or a radiator grille on the front side of the vehicle 100. The front RADAR 104 detects another vehicle traveling in front of the vehicle 100 and is used to measure the traveling speed of the other vehicle and the distance to the other vehicle. In addition, the front RADAR 104 may detect a pedestrian located in front of the vehicle 100.

[0045] The front LiDAR 106 may be installed in an air intake or a radiator grille at the front of the vehicle 100. The front LiDAR 106 detects another vehicle traveling in front of the vehicle 100 and is used to measure the traveling speed of the other vehicle and the distance to the other vehicle. In addition, the front LiDAR 106 may detect a pedestrian located in front of the vehicle 100.

[0046] The GPS device 108 is configured to communicate with GPS satellites. The GPS device 108 includes a GPS receiver 108a and a GPS transmitter 108b.

[0047] The V2X device 110 is configured to perform V2X communication. V2X communication refers to "vehicle-to-everything" and can be translated as "communication between vehicles and objects (people)". The V2X device 110 includes a V2X receiver 110a and a V2X transmitter 110b. Figure 3 V2X communication is described in detail.

[0048] The MDPS 122 is a device configured to assist the steering performance of the vehicle 100 by controlling the steering wheel by appropriately operating the motor in consideration of the speed of the vehicle and the like, according to a signal detected by a sensor connected to the steering wheel.

[0049] The ESC 124 is a device configured to stably maintain the vertical posture of the vehicle body to prevent the vehicle body from losing balance due to sudden driving of the vehicle when an obstacle or an accident suddenly appears in front of the running vehicle, or when the vehicle 100 must move quickly on a slippery road. The ESC 124 can maintain high stability of the vehicle 100 even when the vehicle 100 is suddenly driven.

[0050] The powertrain 126 is a series of devices configured to transfer power to the vehicle 100 , and may include a clutch, a torque converter, a transmission, a propeller shaft, a drive shaft, a differential, etc. of the vehicle 100 .

[0051] Figure 3 A schematic diagram illustrating vehicle-to-everything (V2X) communication of a vehicle according to an exemplary embodiment of the present invention.

[0052] V2X communication refers to "vehicle-to-everything" and can be translated as "communication between vehicles and objects (people)". Figure 3 As shown, V2X communication is a technology in which the traveling vehicles 100 exchange and share road infrastructure or traffic information, pedestrian information, etc. through wireless communication. V2X communication is implemented based on vehicles, such as vehicle to infrastructure (V2I), vehicle to vehicle (V2V), vehicle to pedestrian V2P, etc.

[0053] In the vehicle 100, information on the surrounding situation of the vehicle 100 is exchanged with the mobile device 318 of the pedestrian 308, other vehicles 304 and 306, or the V2X base station 302 around the vehicle. The vehicle 100 performs V2I communication with the V2X base station 302, performs V2V communication with the other vehicles 304 and 306, and performs V2P communication with the mobile device 318 of the pedestrian 308. Strictly speaking, V2P communication is communication with the mobile device 318 carried by the pedestrian 308 rather than communication with the pedestrian 308.

[0054] The vehicle 100 exchanges messages through V2I communication, V2V communication, and V2P communication to perform two-way communication that promotes a safe and pleasant driving environment.

[0055] Figure 4 A schematic diagram showing a method of controlling a vehicle in one embodiment of the present invention. Figure 4 The method of controlling a vehicle shown sets blind spots based on a driving trajectory and detection results of objects in a focus area, and can control safe driving of the vehicle 100 according to the risk level of a moving object in the set blind spot.

[0056] The vehicle 100 detects a driving track of the vehicle 100 and sets a focus area on the driving track in front of the vehicle 100 ( 402 ).

[0057] Figure 5 is a schematic diagram showing an area of ​​interest set by a vehicle 100 in another embodiment of the present invention. Figure 5 As shown, the area of ​​interest is set on the driving trajectory in front of the vehicle 100. The width of the area of ​​interest (which is large enough to allow the vehicle to quickly avoid obstacles) can be, for example, three times the width of the vehicle. The length of the area of ​​interest (which is large enough to allow the vehicle to quickly avoid obstacles) can be, for example, the distance that the vehicle 100 moves in four seconds at the current speed. The size of the area of ​​interest is not limited to these values. An area of ​​one vehicle's width in the middle of the width of the area of ​​interest can be defined as a danger zone. When an obstacle is in a danger zone, the risk of an accident is high, so it is expected that the vehicle 100 pays more attention to such an area.

[0058] Back to Figure 4 , the vehicle 100 sets a blind spot based on the object detection ( 404 ).

[0059] Figure 6 Schematic diagram showing a blind spot of a vehicle according to another exemplary embodiment of the present invention. Figure 6 As shown, a blind spot 606 consisting of another vehicle 602 and a building 604 in front of the vehicle 100 may be set. Based on the object detection result (result of obstacle detection) detected by the front camera 102, the front RADAR 104, or the front LiDAR 106, the blind spot is set in the focus area.

[0060] Object detection is information about moving objects, which may include information about distinction, location, speed, direction, and detection sensor type. Distinction information may include pedestrians, bicycles, vehicles, motorcycles, etc. Location information may include GPS coordinates. The detection sensor information indicates which of the front camera 102, front RADAR 104, and front LiDAR 106 is used.

[0061] Back to Figure 4 The vehicle 100 acquires the GPS coordinates of the blind spot set in the area of ​​interest (406). The information of the relative size and distance of the area of ​​interest of the vehicle 100 is ensured, the blind spot is in the area of ​​interest, and the GPS coordinates of the vehicle 100 are acquired, so that the vehicle can easily acquire the GPS coordinates of the blind spot.

[0062] In addition, vehicle 100 receives object detection results (e.g., information on moving objects) from vehicles 304 and 306 (408). Figure 6 As shown, each of the vehicles 304 and 306 detects an object and transmits the object detection result to the surrounding vehicles through V2X communication. The vehicle receives the object detection result transmitted from the surrounding vehicles 304 and 306, that is, the information of the moving object.

[0063] Reference Figure 4 , the vehicle 100 performs safe driving control based on the results of the autonomously performed object detection and the results of the object detection received from the vehicles 304 and 306 to safely control the vehicle 100 (410). Fig. 7A and Figure 7B The safe driving control of the vehicle 100 is described in detail.

[0064] Fig. 7A and Figure 7B 1 is a schematic diagram showing safe driving control of a vehicle according to an embodiment of the present invention. Fig. 7A is a schematic diagram showing risk level classification based on object detection results, and Figure 7B is a schematic diagram showing safe driving control based on the result of risk degree classification.

[0065] First, if Fig. 7A As shown, the controller 112 of the vehicle 100 screens the target objects (moving objects) in the current blind spot or expected to enter the blind spot based on the result of the object detection (702). The screening is to determine the risk level by selecting only the objects that are expected to receive special attention from the detected target objects. The result of the object detection may include the object detection result of the vehicle 100 itself and the object detection results received from the vehicles 304 and 306.

[0066] The controller 112 sets the range of the screened target object ( 704 ). The range of the target object may be set differently according to the classification of the target object. Fig. 8A and Figure 8B is a schematic diagram showing the range of setting the target object. Fig. 8A As shown in FIG. 1 , when the target object is a pedestrian, the range of the pedestrian is represented by a circle with a radius of T1+T2 around the pedestrian. T1 may be a predetermined distance (e.g., 1 m), and T2 may be a distance (speed×1 second) that the pedestrian moves within a predetermined time (e.g., 1 second). Figure 8B As shown, when the target object is a vehicle (or motorcycle), the range of the vehicle is represented by a combination of a circle with a radius of T1 and an ellipse with a radius of T2 around the vehicle. T1 may be a predetermined distance (e.g., 5 m), and T2 may be a distance (speed×3 seconds) that the vehicle moves within a predetermined time (e.g., 3 seconds).

[0067] Back to Fig. 7A, the controller 112 checks whether the selected target object is detected by a plurality of sensors (706). That is, the controller 112 checks whether the selected target object is detected by two or more sensors among the front camera 102, the front RADAR 104, and the front LiDAR 106. This is because the result obtained by detecting the target object by a plurality of sensors may be more accurate than the result obtained by detecting the target object by a single sensor.

[0068] When the screened target object is a target object detected by a plurality of sensors (“Example” of 706), the controller 112 checks whether there is a target object of the same range among the target objects detected by the plurality of sensors (708). When the ranges of the target objects overlap by a predetermined amount (e.g., 30%), the criterion for determining whether the ranges of the target objects are the same may determine whether the ranges of the target objects are the same. Fig. 9 is a schematic diagram showing the case where the ranges of the target objects are the same. Fig. 9 As shown in FIG. 1 , when the range 902a of the first pedestrian 308a and the range 902b of the second pedestrian 308b overlap by more than or equal to 30% as the overlap area 904, the first pedestrian 308a and the second pedestrian 308b may have the same range. In the case of pedestrians, when the overlap ranges of the first pedestrian and the second pedestrian are greater than or equal to 30%, it can be understood that the pedestrians are actually in the same range. When the target object is a vehicle, the criterion for determining the overlap area of ​​the same range may be a value other than 30%.

[0069] Back to Fig. 7A When it is determined that there are target objects of the same range among the target objects detected by the multiple sensors, the controller 112 combines the target objects of the same range into one target object (710). That is, target objects whose overlapping range is greater than or equal to the predetermined range are regarded as one target object. Fig. 7A In the example, the target object that has undergone steps 706, 708 and 710 is classified into category C.

[0070] In step 708 , when there is no target object in the same range (“No” in 708 ), the controller 112 classifies the target object into the B category.

[0071] exist Fig. 7A In the example, when the screened target objects are target objects detected by a single sensor (“No” in 706), the controller 112 checks whether there are target objects of the same range among the target objects detected by the single sensor (718). When the overlapping ranges of the target objects are greater than or equal to a predetermined amount (e.g., 30%), the criterion for determining whether there are target objects of the same range may determine that the target objects have the same range. As described above, Fig. 9 As shown, when the range 902a of the first pedestrian 308a and the range 902b of the second pedestrian 308b overlap by more than or equal to 30% in the overlap area 904, the first pedestrian 308a and the second pedestrian 308b may have the same range. In the case of pedestrians, when the overlapping ranges of the first pedestrian and the second pedestrian are greater than or equal to 30%, it can be understood that the pedestrians are actually in the same range. When the target object is a vehicle, the criterion for determining the overlapping area of ​​the same range may have a value other than 30%.

[0072] Back to Fig. 7A When it is determined that there are target objects of the same range among the target objects detected by a single sensor, the controller 112 combines the target objects of the same range into one target object (720). That is, target objects whose overlapping range is greater than or equal to the predetermined range are regarded as one target object. Fig. 7A In the example, the target object after steps 706, 718 and 720 is classified into category B.

[0073] In step 718, when there is no target object in the same range ("No" of 718), the controller 112 checks which sensor detects the target object (736). For example, when the target object is a pedestrian, the controller 112 checks whether the front camera 102 or the front LiDAR 106 detects the pedestrian. When the target object is a vehicle, the controller 112 checks whether the front RADAR 104 or the front LiDAR 106 detects the vehicle.

[0074] When the front camera 102 or the front LiDAR 106 detects a pedestrian, or the front RADAR 104 or the front LiDAR 106 detects a vehicle (“YES” in 736 ), the controller 112 classifies the relevant target object into the A category.

[0075] When the front camera 102 or the front LiDAR 106 does not detect a pedestrian, or the front RADAR 104 or the front LiDAR 106 does not detect a vehicle (“No” of 736), the controller 112 checks whether the relevant target object is continuously detected greater than or equal to a predetermined number of times (e.g., twice) within a predetermined time (e.g., 1 second) (738). When the relevant target object is continuously detected greater than or equal to a predetermined number of times (e.g., twice) within a predetermined time (e.g., 1 second), the controller 112 classifies the target object into Class A.

[0076] The target objects are classified into Class A, Class B and Class C according to the state of the target objects, thereby determining the target object of interest, and ensuring the target detection information (740) while continuously tracking the determined target object of interest. The target objects are classified into Class A (third risk level), Class B (second risk level) and Class C (first risk level) (the above classification is the classification of the risk level (or the degree of expected attention) of the target objects) in order to apply different levels of safe driving control according to the risk level of each target object. The risk levels are Class C>Class B>Class A. The following will refer to Figure 7B Such a sequence is described in more detail.

[0077] Figure 7B is a schematic diagram showing safe driving control based on the result of risk degree classification.

[0078] In the case where the target object of interest is determined and tracked (“Yes” in 760 ), when the target object of interest is expected to enter the danger zone within a predetermined time (eg, 3 seconds) (see Figure 5 ),like Figure 7B As shown in 762, 764 and 766 in FIG. 1 , the controller 112 performs different levels of safe driving control according to the classification of the relevant target object of interest. As described above, the risk level (or the level of expected attention) is C>B>A.

[0079] When the target object of interest is classified as Class A, the controller 112 relaxes the entry conditions of the brake assist system (BAS) or performs deviation driving on the road by determining that the risk level is relatively low (762). That is, in the case of Class A, the controller 112 determines that the risk level is not so high, and relaxes the entry conditions of the BAS, thereby delaying the intervention time of the BAS. The controller 112 can make it easier for the vehicle 100 to avoid the target object of interest by allowing the vehicle 100 to deviate to the left or right side instead of driving in the center of the road.

[0080] When the target object of interest is classified as Class B, the controller 112 generates a warning and relaxes the entry conditions of the BAS or performs deviation driving on the road by determining that the risk level is relatively high (764). That is, in the case of Class B, the controller 112 determines that the risk level is relatively high, thereby issuing a warning to the driver to attract the driver's attention so that the driver actively reacts, and relaxes the entry conditions of the BAS to delay the intervention time of the BAS. The controller 112 can make it easier for the vehicle 100 to avoid the target object of interest by allowing the vehicle 100 to deviate to the left or right side instead of driving in the center of the road.

[0081] When the target object of interest is classified as Class C, the controller 112 generates a warning to the driver by determining that the risk level is very high, reduces the speed of the vehicle 100 to a predetermined speed (e.g., 30 kph), and relaxes the entry conditions of the BAS or performs deviation driving on the road (766). That is, in the case of Class C, the controller 112 determines that the risk level is very high, thereby issuing a warning to the driver to attract the driver's attention, so that the driver actively reacts, reduces the speed of the vehicle 100, and relaxes the entry conditions of the BAS to delay the intervention time of the BAS. The speed of the vehicle 100 can be reduced and decelerated to a state where a predetermined longitudinal acceleration (e.g., 0.1 g) is maintained. Otherwise, the controller 112 can make it easier for the vehicle 100 to avoid the target object of interest by allowing the vehicle 100 to deviate to the left or right side instead of driving in the center of the road.

[0082] The controller 112 finally determines which of the A, B, and C categories the risk level of the target object currently concerned corresponds to (768). The controller 112 selects any one of the safe driving controls 762, 764, and 766 according to the finally determined risk level to enable the vehicle 100 to perform safe driving control at a level suitable for the surrounding target objects of concern. The controller 112 may use collision time (TTC) information to finally determine the risk level.

[0083] When a target object of interest (i.e., an object in the blind spot or expected to enter the blind spot soon) deviates from the blind spot and is detected by the sensor of the vehicle 100, the controller 112 determines the risk level and performs safe driving control by immediately selecting the target object of interest as a target (770). Since the situation in which the target object of interest deviates from the blind spot and is detected by the sensor of the vehicle 100 may require a more proactive and positive response to the target object of interest, it is necessary to determine the risk level and perform safe driving control by immediately selecting the target object of interest as a target.

[0084] As is apparent from the above description, the vehicle acquires information of a target object in a blind spot based on the vehicle's own object detection result and an object detection result received from another vehicle, and performs safe driving control based on the acquired target object information.

[0085] Although the present invention has been specifically described with reference to exemplary embodiments, it will be appreciated by those skilled in the art that various changes, modifications and substitutions may be made in form and detail without departing from the spirit and scope of the present invention. Therefore, the exemplary embodiments and claims disclosed in the present invention should be considered only as descriptive meanings rather than for the purpose of limitation. Therefore, the scope of the present invention is not limited by the embodiments and the accompanying drawings. The scope of the present invention should be limited by the appended claims, and include all modifications and equivalent forms falling within the scope of the present invention.

Claims

1. A method for controlling a vehicle, the method comprising: Setting blind spots near the vehicle based on object detection results around the vehicle; Perform safe driving control of the vehicle based on the risk level of the target object in the blind spot, Wherein, performing safe driving control of the vehicle further includes: determining a risk level of the target object based on the number of sensors configured to detect the target object, checking whether there is a target object of the same range within the target object detected by the sensor, the type of the sensor configured to detect the target object, and the detection frequency, When the target object is detected by a plurality of sensors and there are target objects in the same range among the target objects detected by the plurality of sensors, the risk level of the target object is set to a first risk level, When a target object is detected by a single sensor and there are target objects in the same range among the target objects detected by the single sensor, the risk level of the target object is set to a second risk level lower than the first risk level, When the target object is detected by a single sensor, there are no target objects of the same range within the target objects detected by the single sensor, the type of the sensor configured to detect the target object is not a predetermined sensor, and the target object is detected at a predetermined frequency within a predetermined time, the risk level of the target object is set to a third risk level that is lower than the second risk level. 2 . The method according to claim 1 , wherein the object detection result around the vehicle includes an object detection result via the vehicle and an object detection result via another vehicle around the vehicle.

3. The method according to claim 1, wherein: Executing safe driving controls of the vehicle includes: Screening target objects in the blind spot or expected to enter the blind spot based on the object detection result; Set the range of the target objects to be filtered out.

4. The method according to claim 1, wherein: Safe driving controls include: Reflects the degree of risk; Based on the risk level of the target object, at least one of generating a warning, reducing speed, relaxing an entry condition of a brake assist system, or deviating driving of the vehicle is selectively collected and managed.

5. A vehicle comprising: a sensor configured to detect objects around the vehicle; a communicator configured to communicate with another vehicle; as well as a controller configured to set a blind spot near the vehicle based on an object detection result by the sensor, and the controller configured to perform safe driving control of the vehicle based on a risk level of a target object in the blind spot, The controller for safe driving control of the vehicle is configured to determine the risk level of the target object based on the number of sensors configured to detect the target object, checking whether there is a target object of the same range within the target object detected by the sensor, the type of the sensor and the detection frequency, The controller is configured to: when the target object is detected by a plurality of sensors and there are target objects in the same range among the target objects detected by the plurality of sensors, set the risk level of the target object to a first risk level, The controller is configured to: when a target object is detected by a single sensor and there are target objects in the same range among the target objects detected by the single sensor, set the risk level of the target object to a second risk level lower than the first risk level, The controller is configured to: when the target object is detected by a single sensor, there are no target objects of the same range within the target objects detected by the single sensor, the type of the sensor configured to detect the target object is not a predetermined sensor, and the target object is detected at a predetermined frequency within a predetermined time, set the risk level of the target object to a third risk level lower than the second risk level.

6. The vehicle according to claim 5, wherein: The object detection result around the vehicle includes an object detection result via the vehicle and an object detection result via another vehicle around the vehicle.

7. The vehicle according to claim 5, wherein: The controller for safe driving control of a vehicle is configured to screen target objects in a blind spot or expected to enter the blind spot based on the object detection result and set a range of the screened target objects.

8. The vehicle according to claim 5, wherein: The controller is configured to selectively collect and manage at least one of generating a warning, reducing speed, relaxing an entry condition of a brake assist system, or a deviation of the vehicle based on a risk level of the target object.

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