Vehicle and control method thereof

Abstract

The present disclosure relates to a vehicle and a control method thereof, and more particularly, to a technology for increasing the reliability of a collision avoidance control system by performing vehicle front collision determination and vehicle side collision determination by different controllers.

Description

Technical Field

[0001] The disclosed form is directed to a vehicle and a control method thereof, and more particularly, to a technology for increasing the reliability of a collision avoidance control system by performing vehicle front collision determination and vehicle side collision determination by different controllers. Background Art

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

[0003] A vehicle is a device that is capable of transporting people or objects to a destination when traveling on roads or tracks. A vehicle can be moved to various locations primarily using one or more wheels mounted on the vehicle body. Such vehicles may be three- or four-wheeled vehicles, two-wheeled vehicles such as motorcycles, construction machinery, bicycles, and trains that travel on rails laid on tracks.

[0004] In modern society, cars are the most common means of transportation, and the number of people using cars is increasing. Due to the development of automobile technology, it is easy to move long distances and simplify life. However, in high-density populations such as South Korea, road traffic conditions deteriorate and traffic congestion often occurs.

[0005] Recently, in order to reduce the burden on drivers and increase convenience, research on vehicles equipped with advanced driver assistance systems (ADAS) that actively set information on vehicle status, driver status, and surrounding environment is being actively conducted.

[0006] Examples of advanced driver assistance systems in vehicles include forward collision avoidance (FCA) and autonomous emergency braking (AEB). Such a system is a collision avoidance system that determines the risk of collision with an oncoming vehicle or a vehicle at an intersection in the vehicle's driving situation and applies emergency braking in the event of a collision.

[0007] Conventionally, one controller processes the vehicle front detection result and the vehicle side detection result to perform the anti-collision control of the vehicle. As a result, some of the front detection sensors and the side detection sensors fail or an error occurs in the processing result of one controller. In this case, problems regarding accurate anti-collision control may occur.

[0008] Therefore, it is desirable to improve the necessity of reliability of a collision avoidance control system by processing data for executing collision avoidance control of a vehicle through a plurality of controllers.

[0009] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the invention

[0010] The present disclosure provides an improvement in the reliability of a collision avoidance control system of a vehicle by performing vehicle front collision determination and vehicle side collision determination respectively by different controllers.

[0011] According to aspects of the present disclosure, a vehicle includes: a front detection sensor configured to detect at least one of a target vehicle and another object in front of the vehicle; a side detection sensor 201 configured to detect an object located on at least one of the left or right sides of the vehicle; a first controller configured to determine a possibility of the vehicle avoiding the target vehicle in front; a second controller configured to determine a possibility of the vehicle avoiding the target vehicle to the side; a third controller configured to determine a possibility of the vehicle avoiding the target vehicle by driving based on results of the target vehicle and the another object detected by the front detection sensor and results of the object detected by the side detection sensor; an integrated controller configured to determine a final avoidance possibility of the target vehicle based on the forward avoidance possibility determined by the first controller and the side avoidance possibility determined by the second controller, and to adjust the anti-collision control amount of the vehicle by comparing the possibility of avoidance driving determined by the third controller with the determined final avoidance possibility.

[0012] In addition, the first controller may determine a left avoidance area and a right avoidance area relative to the detected target vehicle, and determine a possibility of the vehicle avoiding the front of the target vehicle based on the determined avoidance areas.

[0013] In addition, the first controller can determine an evasion path for the vehicle to evade in the left evasion area or the right evasion area, and determine whether the object is located in the left evasion area of ​​the target vehicle based on the front detection result of the front detection sensor, and when the object is not located in the left evasion area, determine the possibility of the front avoidance is that the vehicle avoids the target vehicle through the determined left evasion path.

[0014] In addition, the first controller can determine an evasion path for the vehicle to evade in the left evasion area or the right evasion area, and based on the front detection result of the front detection sensor, determine whether the object is located in the right evasion area of ​​the target vehicle, and when the object is not located in the right evasion area, determine that the possibility of front evasion is that the vehicle avoids the target vehicle through the determined right evasion path.

[0015] In addition, the first controller can determine whether the object is located in the right avoidance area and the left avoidance area of ​​the target vehicle based on the front detection result of the front detection sensor; and if the object is located in the right avoidance area and the left avoidance area, it is determined that the possibility of front avoidance is that the vehicle cannot avoid the target vehicle.

[0016] In addition, the second controller may determine a lane change path for the vehicle to avoid the target vehicle based on the detected object, and determine a possibility of a sideways avoidance of the vehicle relative to the target vehicle based on the determined lane change path.

[0017] In addition, the second controller can determine whether an object is located on the left side of the vehicle based on the side detection result of the side detection sensor, and when the object is not located on the left side of the vehicle, determine the possibility of side avoidance by changing the path of the determined left lane to avoid the target vehicle.

[0018] In addition, the second controller can determine whether an object is located on the right side of the vehicle based on the side detection result of the side detection sensor, and when the object is not located on the right side of the vehicle, determine the possibility of side avoidance by changing the path of the determined right lane to avoid the target vehicle.

[0019] In addition, the second controller can determine whether the object is located on the right and left sides of the vehicle based on the side detection results of the side detection sensor, and when the object is located on the right and left sides of the vehicle, determine that the possibility of side avoidance is that the vehicle cannot avoid the target vehicle.

[0020] In addition, if the final avoidance possibility determined from the first controller and the second controller matches the possibility of avoidance driving determined by the third controller, the integrated controller may increase the braking amount of the vehicle to be greater than a predetermined value; if the final avoidance possibility determined from the first controller and the second controller does not match the possibility of avoidance driving determined by the third controller, the integrated controller may reduce the braking amount of the vehicle to be less than the predetermined value.

[0021] In addition, if the final avoidance possibility determined from the first controller and the second controller matches the possibility of avoidance driving determined by the third controller, the integrated controller may advance the braking time point of the vehicle to be earlier than the predetermined time point; if the final avoidance possibility determined from the first controller and the second controller does not match the possibility of avoidance driving determined by the third controller, the integrated controller may delay the braking time point of the vehicle to be later than the predetermined time point.

[0022] In addition, if the final avoidance possibilities determined from the first controller and the second controller match the possibility of avoidance driving determined by the third controller, the integrated controller may advance the collision warning time point of the vehicle to be earlier than a predetermined time point; if the final avoidance possibilities determined from the first controller and the second controller do not match the possibility of avoidance driving determined by the third controller, the integrated controller may delay the collision warning time point of the vehicle to be later than the predetermined time point.

[0023] According to one aspect of the present disclosure, a method for controlling a vehicle, the vehicle comprising a first controller, a second controller and a third controller, the method comprising: detecting at least one of a target vehicle and another object in front of the vehicle; detecting an object located at least one of the left side or the right side of the vehicle; determining, by the first controller, a possibility of the vehicle avoiding the front of the target vehicle; determining, by the second controller, a possibility of the vehicle avoiding the side of the target vehicle; determining, by the third controller, a possibility of the vehicle avoiding driving relative to the target vehicle based on results of detecting the target vehicle and the another object and results of detecting the object; and determining a final avoidance possibility for the target vehicle based on the possibility of front avoidance determined by the first controller and the possibility of side avoidance determined by the second controller, and adjusting the amount of collision avoidance control of the vehicle by comparing the possibility of avoidance driving determined by the third controller with the determined final avoidance possibility.

[0024] In addition, determining the possibility of front avoidance of the vehicle may include: determining a left avoidance area and a right avoidance area relative to a detected target vehicle, and determining the possibility of front avoidance of the vehicle relative to the target vehicle based on the avoidance area determined by the first controller.

[0025] In addition, the method may also include: determining an avoidance path for the vehicle to avoid in the determined left avoidance area or the right avoidance area, and determining the possibility of front avoidance of the vehicle may include: determining whether an object is located in the left avoidance area of ​​the target vehicle based on the result of the front detection, and when the object is not located in the left avoidance area, determining the possibility of front avoidance as avoiding the target vehicle through the determined left avoidance path.

[0026] In addition, the method may also include: determining an evasion path for the vehicle to evade in a determined left evasion area or a determined right evasion area, and determining the possibility of front evasion of the vehicle may include: determining whether an object is located in the right evasion area of ​​the target vehicle based on a result of a front detection, and determining the possibility of front evasion as avoiding the target vehicle through a determined right evasion path when the object is not located in the right evasion area, and determining whether an object is located in the right evasion area and the left evasion area of ​​the target vehicle based on a result of a front detection, and if the object is located in the right evasion area and the left evasion area, determining the possibility of front evasion as that the vehicle cannot avoid the target vehicle.

[0027] In addition, determining the possibility of the side avoidance of the vehicle may include: determining a lane change path for the vehicle to avoid the target vehicle based on the detected object, and determining the possibility of the side avoidance of the vehicle relative to the target vehicle based on the lane change path determined by the second controller, determining whether the object is located on the left side of the vehicle based on the side detection result of the side detection sensor, and determining the possibility of side avoidance of the target vehicle through the determined left lane change path when the object is not located on the left side of the vehicle, determining whether the object is located on the right side of the vehicle based on the side detection result of the side detection sensor, and determining the possibility of side avoidance of the target vehicle through the determined right lane change path when the object is not located on the right side of the vehicle, and determining whether the object is located on the right and left sides of the vehicle based on the side detection result of the side detection sensor 201, and determining the possibility of side avoidance is that the vehicle cannot avoid the target vehicle when the object is located on the right and left sides of the vehicle.

[0028] In addition, the method may also include: if the final avoidance possibility determined from the first controller and the second controller matches the possibility of avoidance driving determined by the third controller, the braking amount of the vehicle is increased to be greater than a predetermined value; if the final avoidance possibility determined from the first controller and the second controller does not match the possibility of avoidance driving determined by the third controller, the braking amount of the vehicle is reduced to be less than the predetermined value.

[0029] In addition, the method may also include: if the final avoidance possibility determined from the first controller and the second controller matches the possibility of avoidance driving determined by the third controller, the braking time point of the vehicle is advanced to an earlier than a predetermined time point; if the final avoidance possibility determined from the first controller and the second controller does not match the possibility of avoidance driving determined by the third controller, the braking time point of the vehicle is delayed to a later than the predetermined time point.

[0030] In addition, the method may also include: if the final avoidance possibility determined from the first controller and the second controller matches the possibility of avoidance driving determined by the third controller, the collision warning time point of the vehicle is advanced to an earlier than a predetermined time point; if the final avoidance possibility determined from the first controller and the second controller does not match the possibility of avoidance driving determined by the third controller, the collision warning time point of the vehicle is delayed to a later than the predetermined time point.

[0031] 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 disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to make the present disclosure easier to understand, various forms of the present disclosure will now be described by way of example with reference to the accompanying drawings, in which:

[0033] These and / or other aspects of the present disclosure will become apparent and more readily understood through the following description of the form in conjunction with the accompanying drawings, in which:

[0034] Figure 1 is a perspective view schematically showing the exterior of a vehicle according to an aspect.

[0035] Figure 2 A vehicle provided with a front detection sensor and a side detection sensor according to a form is shown.

[0036] Figure 3 It is a control block diagram of a vehicle according to the form.

[0037] Figure 4A and Figure 4B is a flowchart illustrating a control method of a vehicle according to a form.

[0038] Figure 5 is a conceptual diagram of collision avoidance control for a vehicle according to a form.

[0039] Figure 6 is a diagram showing a method for determining collision avoidance control of a vehicle according to a form.

[0040] 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

[0041] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate the same or corresponding parts and features.

[0042] It will be understood that when an element is referred to as being “connected to” another element, it may be directly or indirectly connected to the other element, wherein the indirect connection includes “connection via a wireless communication network”.

[0043] In addition, when a component “includes” or “comprises” an element, unless there is a specific description to the contrary, the component may further include other elements, rather than excluding other elements.

[0044] The terms first, second, etc. are used to distinguish one component from another component, and the component is not limited by the above terms.

[0045] An expression in the singular includes an expression in the plural form unless it has an obviously different meaning in the context.

[0046] The reference numerals used in the operations are for convenience of description and are not intended to describe the order of the operations, and unless otherwise specified, the operations may be performed in a different order.

[0047] Hereinafter, forms of the present disclosure will be described with reference to the accompanying drawings.

[0048] Figure 1 is a perspective view schematically showing the exterior of a vehicle according to the form.

[0049] Figure 2 A vehicle provided with a front detection sensor and a side detection sensor according to a form is shown. Figure 3 is the control block diagram of the vehicle in the form of, Figure 4A and Figure 4B is a flowchart showing a control method of a vehicle according to the form, Figure 5 is a conceptual diagram of a collision avoidance control for a vehicle according to the form, Figure 6 2 is a diagram showing a method of determining a collision avoidance control of a vehicle according to a form.

[0050] In the following, for the convenience of description, Figure 1As shown, the direction in which the vehicle moves forward may be defined as the front side, and the left direction and the right direction may be defined relative to the front side. When the front side is the 12 o'clock direction, the 3 o'clock direction or its surroundings may be defined as the right direction, and the 9 o'clock direction or its surroundings may be defined as the left direction. The direction opposite to the front side may be defined as the rear side. The bottom direction relative to the vehicle 1 may be defined as the lower side, and the direction opposite to the lower side may be defined as the upper side. The surface provided on the front side may be defined as the front surface, the surface provided on the rear side may be defined as the rear surface, and the surface provided on the lateral side may be defined as the side surface. The side surface in the left direction may be defined as the left surface, and the side surface in the right direction may be defined as the right surface.

[0051] refer to Figure 1 , the vehicle 1 may include a body 10 forming the exterior of the vehicle 1 and wheels 12 and 13 that enable the vehicle 1 to move.

[0052] The vehicle body 10 may include a hood 11a that protects various devices including an engine, a roof 11b that forms an interior space, a trunk lid 11c provided with a storage space, a front fender 11d, and a rear quarter panel 11e provided on a side surface of the vehicle 1. In addition, a plurality of doors 14 hingedly coupled to the vehicle body 10 may be provided on the side surface of the vehicle body 10.

[0053] Between the hood 11a and the roof 11b, a front window 19a may be installed to provide a view of the front side of the vehicle 1, and between the roof 11b and the trunk lid 11c, a rear window 19b may be installed to provide a view of the rear side of the vehicle 1. In addition, on the upper side of the door 14, a side window 19c may be installed to provide a view of the lateral side.

[0054] On the front side of the vehicle 1 , a headlamp 15 capable of emitting light in the traveling direction of the vehicle 1 may be provided.

[0055] At the front and rear sides of the vehicle 1 , turn signal lamps 16 indicating the traveling direction of the vehicle 1 may be provided.

[0056] The vehicle 1 may indicate the direction of travel by flashing a turn signal lamp 16. The turn signal lamp 16 may be installed at the front and rear sides of the vehicle 1. At the rear side of the vehicle 1, a tail lamp 17 may be provided. The tail lamp 17 may be provided at the rear side of the vehicle 1 to indicate a speed change state and a brake operation state of the vehicle 1.

[0057] At least one imager 350 may be provided inside the vehicle 1, and the imager 350 may acquire a surrounding image of the vehicle 1, detect objects around the vehicle 1, and acquire information related to the type of the object and the position information of the object when the vehicle 1 is traveling or the vehicle 1 is stopped. Objects acquired near the vehicle 1 may include another vehicle, pedestrians, and bicycles, and may include moving objects or stationary obstacles.

[0058] The imager 350 may image objects around the vehicle 1 and recognize the imaged objects through image recognition to obtain the shape of the objects, and the imager 350 may transmit the obtained information to the controller 100 .

[0059] Figure 1 The imager 350 is shown to be disposed around the interior mirror 340, but is not limited thereto. Therefore, the imager 350 may be disposed at any position as long as image information can be acquired by imaging the interior or exterior of the vehicle 1.

[0060] The imager 350 may include at least one camera, and the imager 350 may include a three-dimensional space recognition sensor, a radar sensor, or an ultrasonic sensor to obtain a more accurate image. The three-dimensional space recognition sensor may include a KINECT (RGB-D sensor), a TOF (structured light sensor), or a stereo camera, but is not limited thereto. Therefore, the three-dimensional space recognition sensor may include other devices having similar functions as described above.

[0061] Reference Figure 1 and Figure 2 , a front detection sensor 200 may be provided in the vehicle 1 , wherein the front detection sensor 200 is configured to identify an object in front of the vehicle 1 and obtain at least one piece of position information and driving speed information of the identified object.

[0062] The front detection sensor 200 can acquire coordinate information that changes as the object moves in real time, and identify the distance between the vehicle 1 and the object.

[0063] In addition, the front detection sensor 200 can obtain speed information of an object moving in front of the vehicle 1 .

[0064] As described above, the front detection sensor 200 can calculate the relative distance and relative speed between the vehicle 1 and the object based on the position and speed information of the object obtained by the front detection sensor 200, so the front detection sensor 200 can calculate the collision time (TTC) between the vehicle 1 and the object based on the obtained relative distance and relative speed.

[0065] like Figure 1 and Figure 2 As shown, the front detection sensor 200 can be installed at a position suitable for identifying an object (e.g., another vehicle in front, lateral, or front lateral side). In one form, the front detection sensor 200 can be installed on all front, left, and right sides of the vehicle 1 to identify objects on all front sides of the vehicle 1, in the direction between the left and right sides of the vehicle 1 (hereinafter referred to as the "left front side"), and in the direction between the right and front sides of the vehicle 1 (hereinafter referred to as the "right front side").

[0066] For example, the first front detection sensor 200a may be installed as a part of the radiator grille 6, such as inside the radiator grille 6, or alternatively, the first front detection sensor 200a may be installed at any position of the vehicle as long as it can identify another vehicle in front. The second front detection sensor 200b may be installed on the left side of the vehicle 1, and the third front detection sensor 200c may be installed on the right side of the vehicle 1.

[0067] In addition, a side detection sensor 201 that detects a pedestrian or another vehicle that is present or approaching in the rear, side, or rear side of the vehicle 1 may be provided.

[0068] like Figure 2 As shown, the side detection sensor 201 may be installed at a position suitable for identifying an object (eg, another vehicle at the lateral side, rear side, or rear lateral side).

[0069] The side detection sensor 201 may be installed on both the left and right sides of the vehicle 1 to identify an object in a direction between the left and rear sides of the vehicle 1 (hereinafter referred to as the "left rear side") and a direction between the right and rear sides of the vehicle 1 (hereinafter referred to as the "right rear side"). For example, the first side detection sensor 201a or the second side detection sensor 201b may be provided on the left surface of the vehicle 1, and the third side detection sensor 201c or the fourth side detection sensor 201d may be provided on the right surface of the vehicle 1.

[0070] In addition, the fifth side detection sensor 201 e and the sixth side detection sensor 201 g are provided on the left side of the vehicle 1 , and the seventh side detection sensor 201 f and the eighth side detection sensor 201 h are provided on the right side of the vehicle 1 .

[0071] In another form, the side detection sensor 201 can be installed in multiple positions to correctly identify the vehicle. For example, the first side detection sensor 201a and the second side detection sensor 201b can be installed in the left C-pillar and the left rear fender of the vehicle 1, respectively, so that the first side detection sensor 201a and the second side detection sensor 201b can identify whether there is a pedestrian or other vehicle, or whether a pedestrian or other vehicle is approaching. In the same way, the third side detection sensor 201c and the fourth side detection sensor 201d can be installed in the right C-pillar and the right rear fender of the vehicle 1, respectively, so that the third side detection sensor 201c and the fourth side detection sensor 201d can identify whether there is another vehicle. The position of the side detection sensor 201 is not limited to this, and the side detection sensor 201 can be installed at any position of the vehicle 1 according to the designer's choice. For example, the side detection sensor 201 can be installed at a position adjacent to the rear turn signal.

[0072] The side detection sensor 201 may detect another vehicle traveling on the rear side of the right lane of the lane in which the vehicle 1 is traveling. For example, when another vehicle is traveling on the right lane of the lane in which the vehicle 1 is traveling, that is, when another vehicle is located on the right rear side of the vehicle 1, the third side detection sensor 201c or the fourth side detection sensor 201d may detect another vehicle traveling on the right rear side of the vehicle 1. The third side detection sensor 201c or the fourth side detection sensor 201d may detect another vehicle traveling on the right rear side of the vehicle 1, and then obtain coordinate information and driving speed information of the other vehicle.

[0073] In the same manner, the side detection sensor 201 can detect another vehicle traveling on the rear side of the left lane of the lane in which the vehicle 1 is traveling. For example, when another vehicle is traveling in the left lane of the lane in which the vehicle 1 is traveling, that is, when another vehicle is located on the left rear side of the vehicle 1, the first side detection sensor 201a or the second side detection sensor 201b can detect another vehicle traveling on the left rear side of the vehicle 1. The first side detection sensor 201a or the second side detection sensor 201b can detect another vehicle traveling on the left rear side of the vehicle 1, and then obtain coordinate information and travel speed information of the other vehicle.

[0074] The front detection sensor 200 and the side detection sensor 201 can identify whether another vehicle exists or is approaching on the left side, right side, front side, rear side, left front side, right front side, left rear side or right rear side by using electromagnetic waves or lasers. For example, the front detection sensor 200 and the side detection sensor 201 can emit electromagnetic waves (such as microwaves or millimeter waves, pulsed lasers, ultrasonic waves or infrared light) to the left side, right side, front side, rear side, left front side, right front side, left rear side or right rear side, and receive the pulsed lasers, ultrasonic waves or infrared light reflected or scattered by the object in that direction, and identify whether the object is placed. The front detection sensor 200 and the side detection sensor 201 can also identify the distance to the object or the speed of another vehicle in the driving state by using the return time of the radiated electromagnetic waves, pulsed lasers, ultrasonic waves or infrared light.

[0075] The front detection sensor 200 and the side detection sensor 201 can be implemented by using various devices, for example, a radar using millimeter waves or microwaves, a light detection and ranging (LiDAR) using a pulsed laser, a visual sensor using visible light, an infrared sensor using infrared light, or an ultrasonic sensor using ultrasonic waves. The front detection sensor 200 and the side detection sensor 201 can be implemented by using any one of radar, light detection and ranging (LiDAR), a visual sensor, an infrared sensor, or an ultrasonic sensor, or by combining them. When a plurality of sensors 200 are provided in a single vehicle 1, each of the front detection sensor 200 and the side detection sensor 201 can be implemented by using the same type of sensor or different types of sensors. The implementation of the front detection sensor 200 and the side detection sensor 201 is not limited thereto, and the front detection sensor 200 can be implemented by using various devices and combinations thereof considered by the designer.

[0076] Inside the vehicle, a display unit (not shown) may be installed. The display may provide various information in the image to the driver or passenger of the vehicle 1. In addition, the display may provide a warning according to the degree of danger to the driver or passenger. Specifically, when the vehicle 1 changes lanes, different warnings may be provided to the driver, etc. according to the degree of danger. The display may be implemented using a commonly used navigation device.

[0077] The central instrument panel may be installed at the center of the dashboard, and an input device 318 may be provided to input various commands related to the vehicle. The input device 318 may be implemented by using a physical button, a knob, a touch pad, a touch screen, a stick-type control device, or a trackball. The driver may control various operations of the vehicle 1 by operating the input device 318.

[0078] Reference Figure 3 According to the form, the vehicle 1 includes: a speed adjustment unit 70 for adjusting the driving speed of the vehicle 1 driven by the driver; and a speed detector 80 for detecting the driving speed of the vehicle 1; a memory 90 for storing data related to the control of the vehicle 1; and an integrated controller 100 for controlling various components of the vehicle 1 and controlling the traveling speed of the vehicle 1.

[0079] The speed adjustment unit 70 may adjust the speed of the vehicle 1 driven by the driver. The speed adjustment unit 70 may include an accelerator driver 71 and a brake driver 72.

[0080] The accelerator driver 71 receives a control signal of the integrated controller 100 to drive an accelerator to increase the speed of the vehicle 1 , and the brake driver 72 receives a control signal of the controller 100 to reduce the speed of the vehicle 1 by activating the brake.

[0081] The integrated controller 100 may increase or decrease the distance between the vehicle 1 and the other object based on the distance between the vehicle 1 and the other object and a predetermined reference distance stored in the memory 90 to increase or decrease the travel speed of the vehicle 1 .

[0082] In addition, the integrated controller 100 can calculate the estimated time of collision between the vehicle 1 and the object based on the relative distance and relative speed between the vehicle 1 and the object, and based on the calculated estimated collision time, can send a signal to control the driving speed of the vehicle 1 to the speed adjustment unit 70.

[0083] The speed adjustment unit 70 may adjust the travel speed of the vehicle 1 under the control of the integrated controller 100 , and may reduce the travel speed of the vehicle 1 when the risk of a collision between the vehicle 1 and another object is high.

[0084] The speed detector 80 may detect the driving speed of the vehicle 1 driven by the driver under the control of the integrated controller 100. That is, the driving speed may be sensed using the speed at which the wheels of the vehicle 1 rotate. The unit of the driving speed may be expressed as [kph], and may be expressed as a distance (km) traveled per unit time (h).

[0085] The memory 90 may store various data related to the control of the vehicle 1. Specifically, information on the travel speed, travel distance, and travel time of the vehicle 1 according to an exemplary form may be stored, and the type and position information of the object detected by the imager 350 may be stored.

[0086] In addition, the memory 90 may store position information and speed information of objects detected by the front detection sensor 200 and the side detection sensor 201, and may store coordinate information of moving objects that changes in real time, and information about the relative distance and relative speed between the vehicle 1 and the objects.

[0087] In addition, the memory 90 may store data related to a formula and a control algorithm for controlling the vehicle 1 according to the form, and the integrated controller 100 may transmit a control signal for controlling the vehicle 1 according to the formula and the control algorithm.

[0088] The memory 90 may be implemented as at least one of a nonvolatile storage device such as a cache, a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), and a flash memory, or a volatile storage device such as a random access memory (RAM)) or a storage medium such as a hard disk drive (HDD) or a CD-ROM, but is not limited thereto. The memory 90 may be a memory implemented as a chip separate from the processor described above with respect to the integrated controller 100, or may be implemented as a single chip with the processor.

[0089] refer to Figures 1 to 3 , an integrated controller 100 may be provided in the vehicle 1. The integrated controller 100 may perform electronic control on each component related to the operation of the vehicle 1.

[0090] like Figure 3 As shown, the integrated controller 100 may include a first controller 110, a second controller 120, and a third controller 130. In addition, the first to third control units 110 to 130 may not be included in the integrated controller 100, but may be implemented as separate control devices.

[0091] In the following, reference will be made to Figures 3 to 6 A vehicle control method according to an exemplary form of the present disclosure is described.

[0092] The front detection sensor 200 may detect a target vehicle 2 and other objects located in front of the vehicle 1 ( 1000 ).

[0093] like Figure 5 As shown, another object located in front of the moving vehicle 1 may be other moving vehicles 3 and 4 .

[0094] In addition, the side detection sensor 201 may detect an object located in at least one of the left side or the right side of the vehicle 1 ( 1010 ).

[0095] like Figure 5 As shown, the side detection sensor 201 may sense other vehicles 5 and 6 traveling in the left lane or right lane of the traveling vehicle 1. That is, it may be other vehicles 5 and 6 traveling on the left or right side of the vehicle 1, or other vehicles 5 and 6 approaching from the left rear side or right rear side of the vehicle 1.

[0096] The first controller 110 determines a left avoidance area and a right avoidance area relative to a target vehicle 2 detected in front of the vehicle 1 (1020). The possibility of the vehicle 1 avoiding the front of the target vehicle 2 can be determined by determining the avoidance path of the vehicle 1 as the left avoidance area or the right avoidance area (1040).

[0097] Specifically, the first controller 110 determines whether the object is located in the left side avoidance area of ​​the target vehicle 2 based on the front detection result of the vehicle 1 by the front detection sensor 200. If the object is not located in the left side avoidance area, the possibility of front avoidance can be determined by the vehicle 1 avoiding the target vehicle 2 through the left side avoidance path ②.

[0098] In addition, the first controller 110 determines whether the object is located in the right side avoidance area of ​​the target vehicle 2 based on the front detection result of the vehicle 1 by the front detection sensor 200. If the object is not located in the right side avoidance area, the possibility of front avoidance can be determined by the vehicle 1 avoiding the target vehicle 2 through the right side avoidance path ①.

[0099] refer to Figure 6 The first controller 110 determines whether the other vehicles 3 and 4 are located in the right avoidance area and the left avoidance area of ​​the target vehicle 2 based on the front detection result of the front detection sensor 200. If the other vehicles 3 and 4 are located in the right avoidance area and the left avoidance area, the possibility of front avoidance can be determined as the vehicle 1 may not be able to avoid the target vehicle 2.

[0100] As a result of the front sensing of the front detection sensor 200, when the other vehicles 3 and 4 are not located in the right avoidance area and the left avoidance area of ​​the target vehicle 2, the vehicle 1 can avoid the target vehicle 2 through the right avoidance path ① and the left avoidance path ②. In this case, as shown in FIG. Figure 6 As shown, the first controller 110 may set a data flag for the possibility of collision avoidance to "1".

[0101] In addition, as a result of the front detection by the front detection sensor 200, when the other vehicle 3 is located in the left avoidance area of ​​the target vehicle 2 and the other vehicle 4 is not located in the right avoidance area of ​​the target vehicle 2, the vehicle 1 can avoid the target vehicle 2 through the right avoidance path ①. In this case, Figure 6 As shown, the first controller 110 may set the data flag for the possibility of collision avoidance to "2".

[0102] In addition, as a result of the forward sensing of the forward detection sensor 200, if the other vehicle 4 is located in the right avoidance area of ​​the target vehicle 2 and the other vehicle 3 is not located in the left avoidance area, the vehicle 1 can avoid the target vehicle 2 through the left avoidance path ②. In this case, as shown in FIG. Figure 6 As shown, the first controller 110 may set the data flag for the possibility of collision avoidance to "3".

[0103] In addition, as a result of the front detection by the front detection sensor 200, if another vehicle 3, 4 is located in the right avoidance area and the left avoidance area of ​​the target vehicle 2, the vehicle 1 cannot avoid the target vehicle 2 through the right avoidance path ① and the left avoidance path ②. In this case, Figure 6 As shown, the first controller 110 may set the data flag for the possibility of collision avoidance to "4".

[0104] As described above, the first controller 110 may set the possibility of front avoidance according to the front detection result of the vehicle 1 by the front detection sensor 200 so as to avoid a collision with the target vehicle 2 through an avoidance path.

[0105] At the same time, the second controller 120 determines a lane change path for the vehicle 1 to avoid the target vehicle 2 based on the object detected from the side of the vehicle 1 (1030), and determines the possibility of the vehicle 1 avoiding the side of the target vehicle 2 based on the determined lane change path.

[0106] Specifically, the second controller 120 determines whether the object is located on the left side of the vehicle 1 based on the side detection result of the vehicle 1 performed by the side detection sensor 201. If the object is not located on the left side of the vehicle 1, the possibility of side avoidance is determined as the vehicle 1 changing the path ④ by the left lane to avoid the target vehicle 2.

[0107] In addition, the second controller 120 determines whether the object is located on the right side of the vehicle 1 based on the side detection result of the vehicle 1 performed by the side detection sensor 201. If the object is not located on the right side of the vehicle 1, the possibility of side avoidance is determined as the vehicle 1 changing the path ③ through the right lane to avoid the target vehicle 2.

[0108] Reference Figure 6 The second controller 120 determines whether other vehicles 5 and 6 are located on the right and left sides of the vehicle 1 based on the side detection result of the vehicle 1 performed by the side detection sensor 201. If the other vehicles 5 and 6 are located on the right and left sides of the vehicle 1, the second controller 120 determines the possibility of side avoidance as the vehicle 1 cannot change lanes to avoid the target vehicle 2.

[0109] As a result of the side detection performed by the side detection sensor 201, when the other vehicles 5 and 6 are not located on the right and left sides of the vehicle 1, the vehicle 1 can perform lane change through the right lane change path ③ and the left lane change path ④ to avoid the target vehicle. In this case, Figure 6 As shown, the second controller 120 may set a data flag for the possibility of collision avoidance to "1".

[0110] In addition, as a result of the side detection performed by the side detection sensor 201, when the other vehicle 6 is not located on the right side of the vehicle 1 and the other vehicle 5 is located on the left side of the vehicle 1, the vehicle 1 can perform a lane change through the right lane change path ③ to avoid the target vehicle 2. In this case, as shown in FIG. Figure 6 As shown, the second controller 120 may set the data flag for the possibility of collision avoidance to "2".

[0111] In addition, as a result of the side detection performed by the side detection sensor 201, when another vehicle 6 is located on the right side of the vehicle 1 and another vehicle 5 is not located on the left side of the vehicle, the vehicle 1 can perform a lane change through the right lane change path ④ to avoid the target vehicle 2. In this case, as shown in FIG. Figure 6 As shown, the second controller 120 may set the data flag for the possibility of collision avoidance to "3".

[0112] In addition, as a result of the side detection of the vehicle 1 by the side detection sensor 201, when other vehicles 5 and 6 are located on the right and left sides of the vehicle 1, the vehicle 1 cannot perform lane change through the right lane change path ③ and the left lane change path ④ to avoid the target vehicle 2. In this case, as shown in FIG. Figure 6 As shown, the second controller 120 may set the data flag for the possibility of collision avoidance to "4".

[0113] As described above, the second controller 120 may avoid a collision with the target vehicle 2 by changing lanes according to the detection results of the right and left sides of the vehicle 1 by the side detection sensor 201. You can set the possibility of side avoidance.

[0114] In this way, the second controller 120 can set the possibility of side avoidance in which the vehicle 1 can avoid a collision with the target vehicle 2 by changing lanes based on the detection results of the right and left sides of the vehicle 1 by the side detection sensor 201.

[0115] On the other hand, the third controller 130 may determine the possibility of avoiding collision between the vehicle 1 and the target vehicle 2 based on the target vehicle 2 and another object detection results of the front detection sensor 200 and the side object detection results of the side detection sensor 201 ( 1060 ).

[0116] That is, the third controller 130 avoids a collision with a target vehicle 2 located in front of the vehicle based on the sensing data sent from the front detection sensor 200 and the side detection sensor 201, and determines an evasive driving path to avoid the target vehicle 2 located in front of the vehicle, and determines the possibility of evasive driving based on the determined path to avoid the target vehicle 2.

[0117] That is, the third controller 130 may include a target vehicle 2 located in front of the vehicle 1, other vehicles 3 and 4 located on the left or right side of the vehicle 1, and another vehicle 5, and calculate the estimated collision time (TTC) with the vehicle 1 taking into account the position, distance between the vehicles and the travel speed, and determine a driving path for evasive driving to the left or right side of the target vehicle 2, a lane change path of the vehicle 1, etc., so as to avoid a collision with the target vehicle 2.

[0118] The integrated controller 100 may determine a final avoidance possibility of the vehicle 1 with respect to the target vehicle 2 based on the front avoidance possibility determined by the first controller 110 and the side avoidance possibility determined by the second controller 120 ( 1070 ).

[0119] That is, the integrated controller 100 determines whether vehicle 1 is ultimately able to avoid the target vehicle 2 by combining the possibility of vehicle 1 avoiding the front of the target vehicle determined by the first controller 110 itself with the possibility of vehicle 1 avoiding the side of the target vehicle determined by the second controller 120 itself.

[0120] refer to Figure 6 The integrated controller 100 may set a final data flag for the possibility of collision avoidance of the vehicle 1 with respect to the target vehicle 2 by combining the data flag set by the first controller 110 and the data flag set by the second controller 120 .

[0121] For example, when the data flag set by the first controller 110 is "1" and the data flag set by the second controller 110 is "1" to "3", the vehicle 1 can avoid the target vehicle 2 by the right side avoidance path ① of the right side avoidance area of ​​the target vehicle 2 or the left side avoidance path ② of the left side avoidance area, or the vehicle 1 can avoid the target vehicle 2 by the right side lane change path ③ of the right side of the vehicle 1 or the left side lane change path ④ of the left side. In this case, as Figure 6 As shown, the integrated controller 100 may set the final data flag for the possibility of collision prevention to "0".

[0122] On the other hand, if the data flag set by the first controller 110 is "1", but the data flag set by the second controller 120 is "4", the vehicle 1 cannot change lanes due to another vehicle 5 located on the left side of the vehicle 1 and another vehicle 6 located on the right side of the vehicle 1. As a result, the evasive driving to avoid the target vehicle 2 cannot be performed. In this case, Figure 6 As shown, the integrated controller 100 may set the final data flag for the possibility of collision prevention to "1".

[0123] In addition, when the data flag set by the first controller 110 is "2" and the data flag set by the second controller 120 is "1" or "2", the vehicle 1 can avoid the target vehicle 2 by the right side avoidance path ① of the right side avoidance area of ​​the target vehicle 2, or avoid the target vehicle 2 by the right lane change path ③ on the right side of the vehicle 1. In this case, Figure 6 As shown, the integrated controller 100 may set the final data flag for the possibility of collision prevention to "0".

[0124] On the other hand, when the data flag set by the first controller 110 is "2" and the data flag set by the second controller 120 is "3" or "4", the vehicle 1 cannot change lanes due to another vehicle 6 located on the right side of the vehicle 1, and thus the vehicle 1 cannot avoid the target vehicle 2 through the right side avoidance path ① of the right side avoidance area of ​​the target vehicle 2. In this case, Figure 6 As shown, the integrated controller 100 may set the final data flag for the possibility of collision prevention to "1".

[0125] In addition, when the data flag set by the first controller 110 is "3" and the data flag set by the second controller 120 is "1" or "3", the vehicle 1 can avoid the target vehicle 2 via the left side avoidance path ② of the left side avoidance area of ​​the target vehicle 2, or via the left lane change path ④ on the left side of the vehicle 1. In this case, Figure 6 As shown, the integrated controller 100 may set the final data flag for the possibility of collision prevention to "0".

[0126] On the other hand, when the data flag set by the first controller 110 is "3" and the data flag set by the second controller 120 is "2" or "4", the vehicle 1 cannot change lanes due to another vehicle 6 located on the left side of the vehicle 1, and thus the vehicle 1 cannot avoid the target vehicle 2 through the left side avoidance path ② of the left side avoidance area of ​​the target vehicle 2. In this case, as Figure 6 As shown, the integrated controller 100 may set the final data flag for the possibility of collision prevention to "1".

[0127] On the one hand, when the data flag set by the first controller 110 is "4", the vehicle 1 is located because the other vehicle 3 is located on the left side of the vehicle 1 and the other vehicle 4 is located on the right side of the vehicle 1. Therefore, the vehicle 1 cannot avoid the target vehicle 2 through the right side avoidance path ① of the right side avoidance area or the left side avoidance path ② of the left side avoidance area.

[0128] Therefore, in this case, since the vehicle 1 will not travel unavoidably relative to the target vehicle 2 regardless of whether the data flag set by the second controller 120 is "1" to "4", in this case, Figure 6 As shown, the integrated controller 100 may set the final data flag for the possibility of collision prevention to "1".

[0129] If the final data flag set by the integrated controller 100 is "0", it is not desirable to increase the control amount for avoiding collision such as the braking amount and braking time of the vehicle 1, but if the final data flag is "1", the control amount for avoiding collision such as the braking amount and braking timing point of the vehicle 1 should be increased to prohibit the collision with the target vehicle 2.

[0130] The integrated controller 100 determines the final avoidance possibility of the target vehicle 2 of the vehicle 1 in the above-described manner, and compares the determined final avoidance possibility with the possibility of avoidance travel determined by the third controller 130 ( 1080 ).

[0131] If the final avoidance possibility determined based on the front avoidance possibility of vehicle 1 determined by the first controller 110 and the side avoidance possibility determined by the second controller 120 matches the possibility of avoidance driving determined by the third controller 130, the integrated controller 100 may increase the braking amount of vehicle 1 to be greater than a predetermined value (1090).

[0132] In addition, in this case, the integrated controller 100 may advance the braking time point of the vehicle 1 to be earlier than the predetermined time point, and may advance the collision warning time point of the vehicle 1 to be earlier than the predetermined time point (1090).

[0133] On the other hand, if the final avoidance possibility determined based on the front avoidance possibility of vehicle 1 determined by the first controller 110 and the side avoidance possibility determined by the second controller 120 does not match the possibility of avoidance driving determined by the third controller 130, the integrated controller 100 may reduce the braking amount of vehicle 1 to less than a predetermined value (1100).

[0134] In addition, in this case, the integrated controller 100 may delay the braking time point of the vehicle 1 to be later than the predetermined time point, and may delay the collision warning time point of the vehicle 1 to be later than the predetermined time point (1100).

[0135] As described above, the third controller 130 may determine the possibility of evasive driving of the vehicle 1 relative to the target vehicle 2 independently of the first controller 110 and the second controller 120 .

[0136] Conventionally, the third controller 130 controls the braking amount, braking timing, collision warning timing, etc. of the vehicle 1 based on the possibility of collision avoidance, taking into account the positions of other vehicles 5, 6 located on the left or right side of the vehicle, the distance between the vehicles, and the driving speed. Therefore, the reliability of the collision avoidance control system is low, and when some of the front detection sensors 200 and the side detection sensors 201 fail or an error occurs in the processing results of one controller, problems may occur in precise collision avoidance control.

[0137] According to the vehicle and control method thereof in the form of the present disclosure, the integrated controller 100 integrates the possibility of avoiding collision determined by each of the first controller 110 and the second controller 120 to determine a final avoidance possibility, compares the final avoidance possibility determined by the integrated controller 100 with the possibility of avoidance driving determined by the third controller 130, and determines the control amount of collision avoidance of the vehicle 1 based on whether the data matches.

[0138] Thus, the vehicle 1 processes the front collision determination and the side collision determination respectively through different controllers, and the multiple controllers check each other to increase the reliability of the collision avoidance control system of the vehicle 1 .

[0139] On the other hand, the disclosed form can be implemented in the form of a recording medium for storing instructions that can be executed by a computer. The instructions can be stored in the form of program code, and when executed by a processor, a program module can be generated to perform the operation of the disclosed form. The recording medium can be implemented as a computer-readable recording medium.

[0140] The computer-readable recording medium includes all types of recording media in which instructions can be decoded by a computer, such as read-only memory (ROM), random access memory (RAM), magnetic tapes, magnetic disks, flash memory, optical data storage devices, etc.

[0141] As described above, the disclosed forms have been described with reference to the accompanying drawings. Those skilled in the art will appreciate that the present disclosure may be implemented in forms different from the disclosed forms without changing the technical spirit or desired features of the present disclosure. The disclosed forms are exemplary and should not be interpreted as limiting.

[0142] The vehicle front collision determination and the vehicle side collision determination are respectively performed by different controllers, and the mutual checking between the plurality of controllers has the effect of increasing the reliability of the collision avoidance control system of the vehicle.

[0143] While the present disclosure has been described in connection with what are presently considered to be practical exemplary forms, it is to be understood that the disclosure is not limited to the forms disclosed, but on the contrary is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the present disclosure.

[0144] Symbol Description:

[0145] 1: Vehicle

[0146] 2: Target vehicle

[0147] 70: Speed ​​regulator

[0148] 80: Speed ​​detector

[0149] 90: Memory

[0150] 100: Integrated controller

[0151] 110: First Controller

[0152] 120: Second controller

[0153] 130: Third controller

[0154] 200: Front detection sensor

[0155] 201: Side detection sensor.

Claims

1. A host vehicle, comprising: a front detection sensor configured to detect a target vehicle and a first object in front of the host vehicle; a side detection sensor configured to detect a second object located to the left and right of the host vehicle; a first controller configured to determine a likelihood of evasion of the host vehicle relative to a front of the target vehicle; a second controller configured to determine a likelihood of lateral avoidance of the host vehicle relative to the target vehicle; a third controller configured to determine a possibility of evasive driving between the host vehicle and the target vehicle based on a detection result of the target vehicle and the first object by the front detection sensor and a detection result of the second object by the side detection sensor; and an integrated controller configured to determine a final avoidance possibility for the target vehicle based on the front avoidance possibility determined by the first controller and the side avoidance possibility determined by the second controller, and to adjust the collision avoidance control amount of the host vehicle by comparing the avoidance driving possibility determined by the third controller with the final avoidance possibility, Wherein, the first controller is configured to determine a left avoidance area and a right avoidance area relative to the detected target vehicle, and based on the left avoidance area or the right avoidance area, determine the possibility of the main vehicle avoiding the front of the target vehicle, wherein the first controller is configured to: determine an avoidance path for the main vehicle to avoid in the left avoidance area or the right avoidance area, and based on the front detection result of the front detection sensor, determine whether the first object is located in the left avoidance area of ​​the target vehicle, when the first object is not located in the left avoidance area, determine the possibility of the front avoidance is that the main vehicle avoids the target vehicle through the left avoidance path, wherein the second controller is configured to: determine a lane change path for the host vehicle to avoid the target vehicle based on the detected second object, and determine the possibility of the side avoidance of the host vehicle relative to the target vehicle based on the lane change path, wherein the second controller is configured to: determine whether the second object is located on the left side of the host vehicle based on the side detection result of the side detection sensor, and when the second object is not located on the left side of the host vehicle, determine the possibility of the side avoidance to avoid the target vehicle by changing the path in the left lane, Wherein, the integrated controller is configured to: when the final avoidance possibility determined from the first controller and the second controller matches the possibility of avoidance driving determined by the third controller, increase the braking amount of the main vehicle to be greater than a predetermined value, and when the final avoidance possibility determined from the first controller and the second controller does not match the possibility of avoidance driving determined by the third controller, reduce the braking amount of the main vehicle to be less than the predetermined value.

2. The host vehicle of claim 1, wherein: The first controller is configured to: Based on the front detection result of the front detection sensor, it is determined whether the first object is located in the right side avoidance area of ​​the target vehicle, and when the first object is not located in the right side avoidance area, it is determined that the possibility of the front avoidance is that the main vehicle avoids the target vehicle through the right side avoidance path.

3. The host vehicle of claim 1, wherein: The first controller is configured to: determining whether the first object is located in the right avoidance area and the left avoidance area of ​​the target vehicle based on the front detection result of the front detection sensor; as well as If the first object is located in the right avoidance zone and the left avoidance zone, it is determined that the forward avoidance possibility is that the host vehicle cannot avoid the target vehicle.

4. The host vehicle of claim 1, wherein: The second controller is configured to: determining whether the second object is located on the right side of the host vehicle based on the side detection result of the side detection sensor, and When the second object is not located on the right side of the host vehicle, the possibility of the side avoidance is determined to be avoiding the target vehicle by changing the path through the right lane.

5. The host vehicle of claim 1, wherein: The second controller is configured to: determining whether the second object is located on the right side and the left side of the host vehicle based on the side detection result of the side detection sensor; as well as When the second object is located on the right and left sides of the host vehicle, it is determined that the possibility of the side avoidance is that the host vehicle cannot avoid the target vehicle.

6. The host vehicle of claim 1, wherein: The integrated controller is configured to: When the final avoidance possibilities determined from the first controller and the second controller match the possibility of avoidance travel determined by the third controller, advancing the braking time point of the host vehicle to earlier than a predetermined time point, and When the final avoidance possibilities determined from the first controller and the second controller do not match the possibility of avoidance travel determined by the third controller, the braking time point of the host vehicle is delayed to be later than the predetermined time point.

7. The host vehicle of claim 1, wherein: The integrated controller is configured to: When the final avoidance possibilities determined from the first controller and the second controller match the possibility of avoidance travel determined by the third controller, advancing the collision warning time point of the host vehicle to earlier than a predetermined time point, and When the final avoidance possibilities determined from the first controller and the second controller do not match the possibility of avoidance travel determined by the third controller, the collision warning time point of the host vehicle is delayed to be later than the predetermined time point.

8. A method for controlling a host vehicle, the host vehicle comprising a front detection sensor, a side detection sensor, an integrated controller, a first controller, a second controller, and a third controller, the method comprising: detecting a target vehicle and a first object in front of the host vehicle by the front detection sensor; detecting, by the side detection sensor, a second object located on the left and right sides of the host vehicle; determining, by the first controller, a likelihood of avoidance of the host vehicle relative to the front of the target vehicle; determining, by the second controller, a possibility of lateral avoidance of the host vehicle relative to the target vehicle; determining, by the third controller, a possibility of evasive driving of the host vehicle relative to the target vehicle based on the detection results of the target vehicle and the second object and the detection result of the first object; and determining, by the integrated controller, a final avoidance possibility of the target vehicle based on the front avoidance possibility determined by the first controller and the side avoidance possibility determined by the second controller, and adjusting, by the integrated controller, the collision avoidance control amount of the host vehicle by comparing the possibility of the evasive driving determined by the third controller with the final evasive driving possibility, wherein the first controller is configured to determine a left avoidance area and a right avoidance area relative to the detected target vehicle, and based on the left avoidance area or the right avoidance area, determine the possibility of the main vehicle avoiding the front of the target vehicle, wherein the avoidance path for the main vehicle to avoid in the left avoidance area or the right avoidance area is determined by the first controller, and wherein the possibility of the main vehicle avoiding the front of the target vehicle determined by the first controller includes: determining whether the first object is located in the left avoidance area of ​​the target vehicle based on the result of the front detection, and when the first object is not located in the left avoidance area, determining the possibility of the front avoidance as avoiding the target vehicle through the left avoidance path, Wherein, determining, by the second controller, the possibility of lateral avoidance of the main vehicle includes: determining, by the second controller, a lane change path for the main vehicle to avoid the target vehicle based on the detected second object, and determining, based on the lane change path, the possibility of lateral avoidance of the main vehicle relative to the target vehicle, wherein, by the second controller, determining, based on the lateral detection result of the lateral detection sensor, whether the second object is located on the left side of the main vehicle, and when the second object is not located on the left side of the main vehicle, determining the possibility of lateral avoidance as avoiding the target vehicle by changing the path in the left lane, Wherein, the integrated controller is configured to: when the final avoidance possibility determined from the first controller and the second controller matches the possibility of avoidance driving determined by the third controller, increase the braking amount of the main vehicle to be greater than a predetermined value, and when the final avoidance possibility determined from the first controller and the second controller does not match the possibility of avoidance driving determined by the third controller, reduce the braking amount of the main vehicle to be less than the predetermined value.

9. The method according to claim 8, further comprising: Determining, by the first controller, the possibility of the front avoidance of the host vehicle includes: determining whether the first object is located in the right avoidance area of ​​the target vehicle based on a result of the front detection, and when the first object is not located in the right avoidance area, determining the possibility of the front avoidance as avoiding the target vehicle through a right avoidance path, and The first controller determines whether the first object is located in the right avoidance area and the left avoidance area of ​​the target vehicle based on the result of the front detection. If the first object is located in the right avoidance area and the left avoidance area, the possibility of determining the front avoidance is that the main vehicle cannot avoid the target vehicle.

10. The method according to claim 8, wherein The second controller determines whether the second object is located on the right side of the host vehicle based on the side detection result of the side detection sensor, and when the second object is not located on the right side of the host vehicle, determines that the possibility of the side avoidance is to change the path to avoid the target vehicle by changing the right lane, and The second controller determines whether the second object is located on the right and left sides of the main vehicle based on the side detection result of the side detection sensor, and when the second object is located on the right and left sides of the main vehicle, determines that the possibility of the side avoidance is that the main vehicle cannot avoid the target vehicle.

11. The method according to claim 8, further comprising: If the final avoidance possibilities determined from the first controller and the second controller match the avoidance travel possibilities determined by the third controller, advancing the braking time point of the host vehicle to earlier than a predetermined time point, and If the final avoidance possibilities determined from the first and second controllers do not match the possibility of the avoidance travel determined by the third controller, the braking time point of the host vehicle is delayed to be later than the predetermined time point.

12. The method according to claim 8, further comprising: if the final avoidance possibilities determined from the first controller and the second controller match the avoidance travel possibilities determined by the third controller, advancing the collision warning time point of the host vehicle to earlier than a predetermined time point, and If the final avoidance possibilities determined from the first controller and the second controller do not match the possibility of the avoidance travel determined by the third controller, the collision warning time point of the host vehicle is delayed to be later than the predetermined time point.

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