Vehicle and Its Control Method

Abstract

The present invention provides a vehicle and a control method thereof. The vehicle may include a brake; a camera configured to capture an image in front of the vehicle and obtain image data; a radar configured to obtain radar data, the radar data including distance information about other vehicles traveling in the opposite direction at an intersection and speed information of the other vehicles; and a controller configured to estimate a risk of a collision occurring on the side of the other vehicle based on the image data and the radar data when the vehicle turns at an intersection; and control the brake according to the risk of a collision occurring on the side of the other vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle and a control method for reducing collisions with other vehicles when turning at an intersection. Background Art

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

[0003] An intersection anti-collision system is a system that prevents collisions in the case where a collision is expected when a vehicle passes through an intersection by using a braking device. Generally, the prior art predicts a collision point based on the speed of a vehicle at an intersection and the speed of other vehicles when determining a collision risk, and brakes the vehicle when the collision risk is high.

[0004] However, the prior art can avoid a frontal collision with other vehicles facing the intersection, but it may be difficult to reduce a collision on the side of other vehicles because the length of other vehicles is not considered. Summary of the Invention

[0005] One aspect of the present invention provides a vehicle and a control method thereof that can reduce a collision on the side of other vehicles facing an intersection.

[0006] In another aspect of the present invention, a vehicle includes: a braking device; a camera configured to capture an image in front and obtain image data; a radar configured to obtain radar data including distance information of other vehicles approaching the intersection and speed information of the other vehicles; and a controller configured to estimate a risk of a collision on the side of other vehicles based on the image data and the radar data when the vehicle turns at the intersection; and control the braking device according to the risk of a collision on the side of other vehicles.

[0007] The controller may estimate the total length of other vehicles and estimate the time to pass (TTP) of other vehicles based on the image data and the radar data.

[0008] The controller may estimate that there is a risk of a collision on the side of other vehicles when a steering angle exceeds a predetermined reference steering angle before the time to pass (TTP) of other vehicles.

[0009] The controller may obtain the width and height of other vehicles based on the image data and the radar data, and may estimate the total length of other vehicles according to the width and height of other vehicles.

[0010] The controller may determine the total length of other vehicles with reference to a total length data table stored in a memory.

[0011] The controller may estimate the time to pass (TTP) of other vehicles based on the time when other vehicles pass through the area of interest.

[0012] The controller may estimate the time to pass (TTP) of other vehicles based on the time when the longitudinal distance to other vehicles is a first reference distance.

[0013] The controller may control the brake device to release the brake of the vehicle after the time to pass (TTP) of other vehicles when other vehicles pass.

[0014] The vehicle may further include a warning device configured to output a collision warning with other vehicles.

[0015] The warning device may include at least one of an audio device that outputs a voice warning message and a display that outputs a visual warning message.

[0016] In some embodiments of the present invention, a method for controlling a vehicle includes: capturing an image in front by a camera and obtaining image data; obtaining radar data by a radar, the radar data including distance information of other vehicles approaching an intersection and speed information of the other vehicles; when the vehicle turns at the intersection, estimating, by a controller, the risk of a collision occurring on the side of other vehicles based on the image data and the radar data; and controlling, by the controller, a brake device according to the risk of a collision occurring on the side of other vehicles.

[0017] Estimating the risk of a collision occurring on the side of other vehicles may include: estimating the total length of other vehicles based on the image data and the radar data; and estimating the time to pass (TTP) of other vehicles.

[0018] Estimating the risk of a collision occurring on the side of other vehicles may further include: when the steering angle exceeds a predetermined reference steering angle before the time to pass (TTP) of other vehicles, estimating that there is a risk of a collision occurring on the side of other vehicles.

[0019] Estimating the total length of other vehicles may include: obtaining the width and height of other vehicles based on the image data and the radar data; and estimating the total length of other vehicles according to the width and height of other vehicles.

[0020] Estimating the total length of other vehicles may further include: determining the total length of other vehicles with reference to a total length data table stored in a memory.

[0021] Estimating the time to pass (TTP) of other vehicles may include: estimating the time to pass (TTP) of other vehicles based on the time when other vehicles pass through the area of interest.

[0022] Estimating the time to pass (TTP) of other vehicles may include: estimating the time to pass (TTP) of other vehicles based on the time when the longitudinal distance to the other vehicle is a first reference distance.

[0023] The method may further include: after the time to pass (TTP) of the other vehicle when the other vehicle passes, controlling a braking device to release the brakes of the vehicle.

[0024] The method may further include: outputting a collision warning with the other vehicle by a warning device.

[0025] Outputting a collision warning with the other vehicle may include: outputting at least one of a voice warning message by an audio device and a visual warning message by a display.

[0026] With the description provided herein, other application areas will become apparent. It should be understood that this specification and specific examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Description of the Drawings

[0027] To better understand the present invention, various embodiments of the present invention will be described by way of example with reference to the accompanying drawings, in which:

[0028] Figure 1 is a schematic diagram for illustrating detecting other oncoming vehicles when a vehicle turns at an intersection.

[0029] Figure 2 is a schematic diagram for illustrating a side collision with other oncoming vehicles when a vehicle turns at an intersection.

[0030] Figure 3 shows the configuration of a vehicle in one embodiment of the present invention.

[0031] Figure 4 shows the radar and camera included in a vehicle in one embodiment of the present invention.

[0032] Figure 5 shows an example of determining the risk of collision with other oncoming vehicles when a vehicle turns at an intersection in one embodiment of the present invention.

[0033] Figure 6 shows an example of determining the risk of collision with other vehicles alongside a passing vehicle in one embodiment of the present invention.

[0034] Figure 7 shows a total length data table for estimating the type and total length of other vehicles.

[0035] Figure 8is a flowchart schematically showing a method of controlling a vehicle in an embodiment of the present invention.

[0036] Figure 9 is a flowchart showing a method for estimating the type and total length of other vehicles.

[0037] Figure 10 is a flowchart specifically showing a method of controlling a vehicle in an embodiment of the present invention.

[0038] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present invention 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] Terms such as "unit", "module", "component", and "block" can be implemented as hardware or software. In certain embodiments of the present invention, multiple "units", "modules", "components", and "blocks" can be implemented as a single component, or a single "unit", "module", "component", and "block" can include multiple components.

[0041] It should be understood that when an element is referred to as being "connected" to another element, it can be directly or indirectly connected to the other element, where indirect connection includes "connection through a wireless communication network".

[0042] In addition, when a component "includes" or "includes an" element, unless there is a specific description to the contrary, the component can further include other elements without excluding other elements.

[0043] Terms such as first, second, etc. are used to distinguish one component from another component, and the components are not limited by the above terms.

[0044] Expressions used in the singular form include the plural form of the expression unless having a significantly different meaning in the context.

[0045] Reference numerals used in the operations are for convenience of description and are not intended to describe the order of the operations, and the operations can be performed in a different order unless otherwise specified.

[0046] Hereinafter, some embodiments of the present invention will be described with reference to the drawings.

[0047] Figure 1 is a schematic diagram for explaining detecting other oncoming vehicles when a vehicle turns at an intersection.

[0048] Figure 2 It is a schematic diagram for explaining a side collision with other oncoming vehicles when a vehicle turns at an intersection.

[0049] Referring to Figure 1 , when the vehicle 10 turns at an intersection, the vehicle 10 can detect or identify other oncoming vehicles 20 and avoid a collision. However, referring to Figure 2 , since the prior art does not take into account the total length of other vehicles 20 approaching the intersection, there is a risk of colliding with the side of other vehicles 20. For example, when the other vehicle 20 is a large bus or a large truck, since the total length is longer than that of an ordinary vehicle, if the vehicle 10 turns while the other vehicle 20 has not completely passed, it may collide with the other vehicle 20.

[0050] Therefore, by estimating or predicting the total length of the other vehicle 20 and estimating the time when the other vehicle 20 passes by the side of the vehicle 10, a collision on the side of the other vehicle 20 can be prevented. Hereinafter, a method for avoiding a side collision with other vehicles 20 facing the intersection will be described in detail.

[0051] Figure 3 Shows the configuration of a vehicle according to some embodiments of the present invention.

[0052] Referring to Figure 3 , in some embodiments of the present invention, the vehicle 10 may include: a camera 110, a front radar 120, a corner radar 130, a warning device 210, a braking device 220, a steering device 230, and a controller 300. The controller 300 can control various devices included in the vehicle 10.

[0053] The vehicle 10 further includes an engine and a transmission. The engine includes cylinders and pistons and can generate power to make the vehicle 10 travel. The transmission includes a plurality of gears and can transmit the power generated by the engine to the wheels. The braking device 220 can decelerate the vehicle 10 or stop the vehicle 10 by friction with the wheels. The steering device 230 can change the traveling direction of the vehicle 10.

[0054] The vehicle 10 may include a plurality of electronic components. For example, the vehicle 10 may further include: an engine management system (EMS), a transmission controller (also referred to as a transmission control unit (TCU)), an electronic brake controller (also referred to as an electronic brake control module (EBCM)), an electric power steering (EPS) device, a body control module (BCM), and a driver assistance system (DAS).

[0055] The EMS can control the engine in response to a driver's acceleration intention from an accelerator pedal or a request signal from the driver assistance system (DAS). For example, the EMS can control the torque of the engine.

[0056] The TCU can control the transmission in response to a driver shift command activated by a shift lever and / or the vehicle's traveling speed. For example, the TCU can adjust or regulate the gear ratio from the engine 10 to the wheels.

[0057] The electronic brake control module (EBCM) can control the braking device 220 in response to a driver's braking intention from a brake pedal or wheel slip. For example, the EBCM can temporarily release the wheel brakes in response to wheel slip detected in the braking mode of the vehicle 10, thereby implementing an anti-lock braking system (ABS). The EBCM can selectively release the brakes of the wheels in response to oversteering and / or understeering detected in the steering mode of the vehicle 10, thereby implementing electronic stability control (ESC). In addition, the EBCM can temporarily brake the wheels in response to wheel slip detected by vehicle travel, thereby implementing a traction control system (TCS).

[0058] The electronic power steering (EPS) device can assist the steering device 40 in response to a driver's steering intention from a steering wheel, so that the EPS device can assist the driver in easily manipulating the steering wheel. For example, the EPS device can assist the steering wheel 40 in such a way that the steering force decreases in the low-speed driving mode or parking mode of the vehicle 10 but increases in the high-speed driving mode of the vehicle 10.

[0059] The body control module can control various electronic components that can provide user convenience for the driver or ensure the driver's safety. For example, the body control module can control headlights (front headlights), windshield wipers, instruments or other combined display panels, multifunction switches, turn signal indicators, etc.

[0060] The driver assistance system (DAS) can assist the driver in easily operating the vehicle 10 (e.g., driving, braking, and steering). For example, the DAS can detect the surrounding environment of the vehicle 10 (i.e., the host vehicle) (e.g., surrounding vehicles, pedestrians, cyclists, lanes, traffic signs, etc.), and can perform driving, braking, and / or steering of the vehicle 10 in response to the detected surrounding environment.

[0061] The DAS can provide various functions for the driver. For example, the DAS 100 can provide functions such as a lane departure warning (LDW) function, a lane keeping assist (LKA) function, a high beam assist (HBA) function, an automatic emergency braking (AEB) function, a traffic sign recognition (TSR) function, a smart cruise control (SCC) function, a blind spot detection (BSD) function, etc.

[0062] The camera 110 can capture the front and identify other vehicles, pedestrians, cyclists, lanes, road signs, etc.

[0063] The front radar 120 and the corner radar 130 can obtain the relative positions, relative speeds, etc. of surrounding objects (e.g., other vehicles, pedestrians, cyclists, etc.).

[0064] Meanwhile, the vehicle 10 can be provided with various sensors for obtaining the behavior information of the vehicle. For example, the vehicle 10 can include: a speed sensor for detecting the wheel speed, a lateral acceleration sensor for detecting the lateral acceleration of the vehicle, a yaw rate sensor for detecting the change in the angular velocity of the vehicle, a gyro sensor for detecting the tilt of the vehicle, and a steering angle sensor for detecting the rotation and steering angle of the steering wheel.

[0065] The above-mentioned electronic components can communicate with each other through the vehicle communication network (NT). For example, the electronic components can perform data communication through Ethernet, Media Oriented Systems Transport (MOST), FlexRay, Controller Area Network (CAN), Local Interconnect Network (LIN), etc.

[0066] The controller 300 can include a processor 310 and a memory 320. The controller 300 can include one or more processors 310. The processor 310 includes an image signal processor and / or a digital signal processor and / or a micro control unit (MCU); the image signal processor is used for processing the front image data of the front camera 110; the digital signal processor is used for processing the radar data of the radars 120 and 130; the micro control unit (MCU) is used for generating a braking signal and a steering signal.

[0067] The memory 320 can store programs and / or data for the processor 310 to process image data, programs and / or data for processing radar data, and programs and / or data for generating a braking signal and / or a steering signal.

[0068] The memory 142 can temporarily store the image data received from the front camera 110 and / or the radar data received from the radars 120 and 130, and can also temporarily store the processing results of the image data and / or the radar data processed by the processor 310.

[0069] The memory 320 can include not only volatile memories such as static random access memory (SRAM) or dynamic random access memory (DRAM), but also non-volatile memories such as flash memory, read-only memory (ROM), or erasable programmable read-only memory (EPROM).

[0070] One or more processors included in the controller 300 can be integrated in one chip or can be physically separated. In addition, the memory 320 and the controller 300 can be implemented as a single chip.

[0071] The controller 300 processes the image data of the camera 110, the forward radar data of the front view radar 120, and the corner radar data of the plurality of corner radars 130, and generates control signals for controlling the warning device 210, the braking device 200, and the steering device 230.

[0072] Figure 4 The radar and camera included in a vehicle in one embodiment of the present invention are shown.

[0073] Referring Figure 4 , the camera 110 may have a field of view 110a facing forward. The camera 110 may be mounted, for example, on the front windshield of the vehicle 10. The camera 110 may photograph the front of the vehicle 10 and acquire image data of the front of the vehicle 10. The image data of the front of the vehicle 10 may include position information about other vehicles or lanes located in front of the vehicle 10.

[0074] The camera 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes for converting light into an electrical signal, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

[0075] The camera 110 may be electrically connected to the controller 300. For example, the camera 110 is connected to the controller 300 through a vehicle communication network (NT), connected to the controller 300 through a hard wire, or connected to the controller 300 through a printed circuit board (PCB). The camera 110 may send the image data of the front of the vehicle 10 to the controller 300.

[0076] The front view radar 120 may have a sensing area 120a facing the front of the vehicle 10. The front view radar 120 may be mounted, for example, on the guardrail or bumper of the vehicle 10.

[0077] The front view radar 120 may include a transmitting antenna (or transmitting antenna array) and a receiving antenna (or receiving antenna array). The transmitting antenna transmits transmission radio waves toward the front of the vehicle 10; the receiving antenna receives the reflected radio waves reflected from the object. The front view radar 120 may obtain front view radar data from the transmission radio waves transmitted by the transmitting antenna and the reflected radio waves received by the receiving antenna. The front view radar data may include distance information and speed about other vehicles located in front of the vehicle 10. The front view radar 120 calculates the relative distance to the object based on the phase difference (or time difference) between the transmitted wave and the reflected wave, and calculates the relative speed of the object according to the frequency difference between the transmitted wave and the reflected wave.

[0078] The front view radar 120 may be connected to the controller 300 through, for example, the vehicle communication network NT, a hard wire, or a printed circuit board. The front view radar 120 may send the front view radar data to the controller 300.

[0079] The plurality of corner radars 130 may include: a first corner radar 130-1 mounted on the right front side of the vehicle 10; a second corner radar 130-2 mounted on the left front side of the vehicle 10; a third corner radar 130-3 mounted on the right rear side of the vehicle 10; and a fourth corner radar 130-4 mounted on the left rear side of the vehicle 10.

[0080] The first corner radar 130-1 may have a sensing field of view 130-1a facing the right front side of the vehicle 10, the second corner radar 132 may have a sensing field of view 130-2a facing the left front side of the vehicle 10, the third corner radar 130-3 may have a sensing field of view 130-3a facing the right rear side of the vehicle 10, and the fourth corner radar 130-4 may have a sensing field of view 130-4a facing the left rear side of the vehicle 10.

[0081] Each of the plurality of corner radars 130 may include a transmitting antenna and a receiving antenna. The first corner radar 130-1, the second corner radar 130-2, the third corner radar 130-3, and the fourth corner radar 130-4 may obtain the first corner radar data, the second corner radar data, the third corner radar data, and the fourth corner radar data, respectively. The first corner radar data may include distance information and speed information about an object (another vehicle) located on the right front side of the vehicle 10. The second corner radar data may include distance information and speed information about an object located on the left front side of the vehicle 10. The third corner radar data and the fourth corner radar data may include distance information and speed information about objects located on the right rear side and the left rear side of the vehicle 10.

[0082] Each corner radar 130 may be connected to the controller 300 via a vehicle communication network NT or a hard wire or a printed circuit board. The first corner radar 130-1, the second corner radar 130-2, the third corner radar 130-3, and the fourth corner radar 130-4 may each send the first corner radar data, the second corner radar data, the third corner radar data, and the fourth corner radar data to the controller 300, respectively.

[0083] The above-mentioned radar may be implemented as a lidar.

[0084] Figure 5 An example of determining the risk of collision with other oncoming vehicles when the vehicle turns at an intersection in an embodiment of the present invention is shown. Figure 6 An example of determining the risk of collision with other vehicles passing by the side of the vehicle in an embodiment of the present invention is shown.

[0085] Refer to Figure 5, the controller 300 can detect or identify other vehicles 20 approaching at an intersection based on the image data of the camera 110 and the forward radar data of the forward radar 120.

[0086] The controller 300 can obtain the position information (e.g., distance and direction) and speed information (e.g., relative speed and acceleration) of the other vehicle 20 based on the forward radar data of the forward radar 120. In addition, the controller 300 can obtain the position information (e.g., lateral distance) and type information (e.g., large truck, large bus, etc.) of the other vehicle 20 based on the image data of the camera 110.

[0087] The controller 300 can match the object detected by the image data with the object detected by the forward radar data, and obtain the type information, position information, speed information, etc. of the object in front of the vehicle 10 based on the matching result. The controller 300 can generate a braking signal and a steering signal based on the type information, position information, and speed information of the other vehicle 20.

[0088] In addition, the controller 300 can estimate the width Lx and height Lz of the other vehicle 20 approaching the intersection based on the image data of the camera 110. The controller 300 can estimate the total length Ly of the other vehicle 20 based on the estimated width Lx and height Lz of the other vehicle 20. The estimation of the total length Ly of the other vehicle 20 will be described in detail later with reference to Figure 7 The total length Ly of the other vehicle 20 is estimated in detail.

[0089] The controller 300 can calculate the estimated time to collision (TTC) with the other vehicle 20 based on the position information (distance) and speed information (relative speed) of the other vehicle 20 approaching the intersection.

[0090] Specifically, when the other vehicle 20 is present in the region of interest (ROI), the controller 300 can calculate the estimated time to collision TTC based on the longitudinal distance Dy from the other vehicle 20 and the longitudinal relative speed Vx of the other vehicle 20. That is, the controller 300 can calculate the estimated time to collision TTC, which is a value obtained by dividing the longitudinal distance Dy from the other vehicle 20 by the longitudinal relative speed Vx of the other vehicle 20.

[0091] The region of interest ROI refers to the region within a predetermined distance in front of the vehicle 10. For example, the ROI can refer to a region where the longitudinal distance Dy is within 100 meters in front of the vehicle 10 and the lateral distance Dx is within the lane width (about 3.6 meters).

[0092] The controller 300 may determine the risk of a collision based on the time to collision TTC. The controller 300 may warn the driver of the collision or send a braking signal to the braking device 220 based on the comparison result between the expected time to collision TTC and a predetermined reference time.

[0093] In response to an estimated time to collision less than a first predetermined reference time (e.g., 0.8 seconds), the controller 300 controls the warning device 210 to output a collision warning, and controls the braking device 220 to brake the vehicle 10 to a stop. In addition, the controller 300 may control the warning device 210 to output a collision warning in response to a time to collision TTC less than a second predetermined reference time (e.g., 1.2 seconds). The warning device 210 may include at least one of an audio device and a display. The first reference time is less than the second reference time.

[0094] Referring Figure 6 , the controller 300 may obtain position information (distance and direction) and speed information (relative speed) based on a plurality of corner radars 130 located on the sides (right front, left front, right rear, left rear) of the vehicle 10.

[0095] The controller 300 estimates the risk of a collision occurring on the side of another vehicle 20 when turning at an intersection based on image data and radar data, and may control the braking device 220 based on the risk of a collision occurring on the side of another vehicle 20.

[0096] Specifically, the controller 300 estimates the total length Ly of the other vehicle 20 based on image data and radar data, and calculates the passing time (TTP) of the other vehicle 20. The time TTP (passing time) of the other vehicle 20 passing by may be defined as a value obtained by dividing the total length Ly of the other vehicle 20 by the longitudinal relative speed Vx of the other vehicle 20.

[0097] The controller 300 may estimate the passing time (TTP) of the other vehicle 20 based on the time when the other vehicle 20 leaves the attention area. For example, the controller 300 may estimate the passing time (TTP) of the other vehicle 20 based on the time when the longitudinal distance Dy from the other vehicle 20 is a first reference distance (e.g., 1 meter).

[0098] In addition, when the steering angle exceeds a predetermined reference steering angle (e.g., 80 degrees) before the time TTP of passing by the other vehicle 20, the controller 300 may assume a risk of a collision with the side of the other vehicle 20. In addition, the controller 300 may control the braking device 220 to release the brake of the vehicle 10 after the time TTP of the other vehicle 20 passing by.

[0099] When there is a risk of a collision occurring on the side of another vehicle 20, the controller 300 can control the warning device 210 to output a collision warning. The warning device 210 can include at least one of an audio device and a display. The audio device can output a voice warning message. The display can output a visual warning message.

[0100] Figure 7 A total length data table for estimating the type and total length of other vehicles is shown.

[0101] Referring to Figure 7 , the controller 300 can obtain the width Lx and height Lz of the other vehicle 20 facing each other based on the image data of the camera 110. The controller 300 can estimate the total length Ly of the other vehicle 20 based on the width Lx and height Lz of the other vehicle 20.

[0102] The controller 300 can determine the total length of the other vehicle 20 by referring to the total length data table 700 stored in the memory 320. For example, when the width Lx of the other vehicle 20 is 1800 mm and the height Lz is measured as 1440 mm, the controller 300 can determine the total length of the other vehicle 20 as 4620 mm.

[0103] In addition, different from Figure 7 , when the width Lx of the other vehicle 20 is 2000 mm or more and the height Lz is 3000 mm or more, the controller 300 determines the total length of the other vehicle as 11000 mm.

[0104] Figure 8 is a flowchart schematically showing a method of controlling a vehicle in an embodiment of the present invention.

[0105] Referring to Figure 8 , the controller 300 of the vehicle 10 obtains information (810) of the other vehicle 20 approaching at an intersection from the camera 110, the front radar 120, and the corner radar 130. Specifically, the controller 300 can obtain the position information (distance and direction) and speed information (relative speed) of the other vehicle 20 based on the image data and radar data. In addition, the controller 300 can obtain the width Lx and height Lz of the other vehicle 20.

[0106] The controller 300 determines the risk of a collision with the other vehicle 20 based on the obtained information of the other vehicle 20 (820). Specifically, when the vehicle 10 turns at an intersection, the controller 300 estimates the risk of a collision occurring with at least one of the front part of the other vehicle 20 and the side of the other vehicle 20.

[0107] The controller 300 controls the vehicle 10 (830) based on the degree of risk of collision with other vehicles 20. For example, when there is a risk of collision with other vehicles 20, the controller 300 may brake the vehicle 10 by operating the braking device 220. In addition, the controller 300 may operate the warning device 210 to warn the driver of the collision.

[0108] Figure 9 is a flowchart showing a method for estimating the type and total length of other vehicles.

[0109] Referring to Figure 9 , the controller 300 obtains the width Lx and height Lz of the other vehicle 20 (910) based on the image data and radar data. The controller 300 estimates the total length Ly of the other vehicle 20 based on the width Lx and height Lz of the other vehicle 20 (920). The controller 300 may determine the total length of the other vehicle 20 by referring to the total length data table 700 stored in the memory 320.

[0110] Figure 10 is a flowchart specifically showing a method for controlling a vehicle in an embodiment of the present invention.

[0111] Referring to Figure 10 , the controller 300 of the vehicle 10 determines whether there is another vehicle 20 approaching the intersection within the ROI (1001) based on the image data of the camera 110 and the forward radar data of the forward radar 120. The region of interest ROI refers to the region within a predetermined distance in front of the vehicle 10. For example, the ROI may refer to a region where the longitudinal distance Dy is within 100 meters in front of the vehicle 10 and the lateral distance Dx is within the lane width (about 3.6 meters).

[0112] The controller 300 controls the warning device 210 to output a collision warning in response to an estimated time to collision less than a first predetermined reference time (e.g., 0.8 seconds), and controls the braking device 220 to brake the vehicle 10 to a stop (1002, 1003).

[0113] In addition, the controller 300 may control the warning device 210 to output a collision warning (1004, 1005) in response to a time to collision TTC less than a second predetermined reference time (e.g., 1.2 seconds).

[0114] The controller 300 determines whether another vehicle 20 has passed by the side of the vehicle 10 based on image data and radar data (1006). For example, when the other vehicle 20 leaves the area of interest, the controller 300 may determine that the other vehicle 20 has passed by the side of the vehicle 10. In addition, when the longitudinal distance Dy from the other vehicle 20 is within a first reference distance (e.g., 1 meter), the controller 300 may determine that the other vehicle 20 has passed by the side of the vehicle 10.

[0115] The controller 300 estimates the time to pass (TTP) when the other vehicle 20 passes by (1007). The controller 300 estimates the total length Ly of the other vehicle 20 based on the width Lx and height Lz of the other vehicle 20, and estimates the time to pass (TTP) of the other vehicle 20. The time TTP (time to pass) when the other vehicle 20 passes by can be defined as a value obtained by dividing the total length Ly of the other vehicle 20 by the longitudinal relative speed Vx of the other vehicle 20. Meanwhile, the controller 300 may estimate the time to pass (TTP) when the other vehicle 20 passes by according to the time when the other vehicle 20 leaves the area of interest.

[0116] The controller 300 determines whether there is a risk of a side collision with the other vehicle 20 (1008). The controller 300 may determine the risk of a collision on the side of the other vehicle 20 based on the time TTP when the other vehicle 20 passes by, the steering angle of the vehicle 10, and the speed of the vehicle 10. For example, when the steering angle exceeds a predetermined reference steering angle (e.g., 80 degrees) before the time TTP when the other vehicle 20 passes by, the controller 300 may assume that there is a risk of a collision with the side of the other vehicle 20.

[0117] When there is a risk of a side collision with the other vehicle 20, the controller 300 may control the warning device 210 to output a collision warning and control the braking device 220 to stop the vehicle 10.

[0118] The disclosed vehicle and its control method can prevent a collision on the side of another vehicle by estimating the total length of another vehicle approaching an intersection.

[0119] Therefore, the disclosed vehicle and its control method can increase driving safety and increase the reliability of autonomous driving. In addition, it can respond to collision situations and reduce damage.

[0120] On the other hand, some embodiments of the present invention may be implemented in the form of a recording medium for storing instructions executable by a computer. The instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform the operations of some embodiments of the present invention. The recording medium may be implemented as a computer-readable recording medium.

[0121] A computer-readable recording medium includes all types of recording media in which instructions can be decoded by a computer. For example, there may be a read-only memory (ROM), a random access memory (RAM), magnetic tapes, magnetic disks, flash memories, optical data storage devices, and the like.

[0122] The disclosed vehicle and its control method can reduce collisions on the sides of other vehicles by estimating the total length of other vehicles approaching an intersection. Therefore, the disclosed vehicle and its control method can increase driving safety and increase the reliability of autonomous driving. In addition, collision situations can be dealt with and damage can be reduced.

[0123] The specification disclosed herein is merely exemplary in nature, and thus variations that do not deviate from the essence of the present invention are intended to fall within the scope of the present invention. Such variations should not be regarded as departing from the spirit and scope of the present invention.

Claims

1. A vehicle, which comprises: a brake; a camera configured to capture an image in front of the vehicle and obtain image data; a radar configured to obtain radar data, the radar data including distance information about other vehicles traveling in the opposite direction at an intersection and speed information of the other vehicles; and a controller configured to: estimate the total length of other vehicles based on the image data and the radar data when the vehicle turns at an intersection; estimate the passing time of other vehicles, the passing time of other vehicles being a value obtained by dividing the total length of other vehicles by the longitudinal relative speed of the other vehicles; when the steering angle exceeds a predetermined reference steering angle before the passing time of other vehicles, determine that there is a risk of collision on the side of other vehicles; when it is determined that there is a risk of collision on the side of other vehicles, control the brake to stop the vehicle.

2. The vehicle according to claim 1, wherein the controller is configured to: obtain the width and height of other vehicles based on the image data and the radar data; estimate the total length of other vehicles according to the width and height of other vehicles.

3. The vehicle according to claim 2, wherein the controller is configured to: determine the total length of other vehicles based on a total length data table stored in a memory.

4. The vehicle according to claim 1, wherein the controller is configured to: estimate the passing time of other vehicles according to the time when other vehicles leave the attention area.

5. The vehicle according to claim 4, wherein the controller is configured to: estimate the passing time of other vehicles according to the time when other vehicles pass a first reference distance, the first reference distance being a longitudinal distance relative to other vehicles.

6. The vehicle according to claim 1, wherein the controller is configured to: release the brake after the passing time of other vehicles.

7. The vehicle according to claim 1, wherein the vehicle further comprises: a warning device configured to output a collision warning with other vehicles.

8. The vehicle according to claim 7, wherein the warning device includes at least one of an audio device that outputs a voice warning message or a display that outputs a visual warning message.

9. A method for controlling a vehicle, the method comprises: capturing an image in front of the vehicle by a camera and obtaining image data; obtaining radar data by a radar, the radar data including distance information about other vehicles traveling in the opposite direction at an intersection and speed information of the other vehicles; when the vehicle turns at an intersection, estimating the total length of other vehicles by a controller based on the image data and the radar data; estimating the passing time of other vehicles by the controller, the passing time of other vehicles being a value obtained by dividing the total length of other vehicles by the longitudinal relative speed of the other vehicles; when the steering angle exceeds a predetermined reference steering angle before the passing time of other vehicles, determining by the controller that there is a risk of collision on the side of other vehicles; when it is determined that there is a risk of collision on the side of other vehicles, controlling the brake by the controller to stop the vehicle.

10. The method for controlling a vehicle according to claim 9, wherein, estimating the total length of another vehicle includes: obtaining, by a controller, the width and height of the other vehicle based on image data and radar data; estimating, by the controller, the total length of the other vehicle based on the width and height of the other vehicle.

11. The method for controlling a vehicle according to claim 10, wherein, estimating the total length of the other vehicle further includes: determining, by the controller, the total length of the other vehicle based on a total length data table stored in a memory.

12. The method for controlling a vehicle according to claim 9, wherein, estimating the passing time of the other vehicle includes: estimating, by the controller, the passing time of the other vehicle according to the time when the other vehicle leaves a region of interest.

13. The method for controlling a vehicle according to claim 12, wherein, estimating the passing time of the other vehicle includes: estimating, by the controller, the passing time of the other vehicle according to the time when the other vehicle passes a first reference distance, the first reference distance being a longitudinal distance with respect to the other vehicle.

14. The method for controlling a vehicle according to claim 9, wherein, the method further includes: releasing, by the controller, a brake after the passing time of the other vehicle.

15. The method for controlling a vehicle according to claim 9, wherein, the method further includes: outputting, by a warning device, a collision warning with the other vehicle.

16. The method for controlling a vehicle according to claim 15, wherein, outputting a collision warning with the other vehicle includes: outputting, by an audio device, at least one of a voice warning message or outputting, by a display, a visual warning message.

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