System and method for avoiding vehicle collisions

Abstract

The present disclosure relates to a system and method for avoiding a vehicle collision. The system includes an operation determination device for determining whether a vehicle has entered a parking lot based on position information and inclination information of the vehicle, and a controller configured to generate a virtual map on obstacles on a curve in the parking lot based on image information and distance information when it is determined that the vehicle has entered the parking lot, generate an expected motion trajectory of the vehicle based on steering information and speed information of the vehicle, and predict a collision of the obstacles in the virtual map with the vehicle according to the expected motion trajectory based on the virtual map and the expected motion trajectory.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to Korean Patent Application No. 10-2021-0125044, filed with the Korean Intellectual Property Office on September 17, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to systems and methods for avoiding vehicle collisions. Background Technology

[0004] A vehicle is a device that can transport people or goods to a destination when traveling on a road or route, and can move to various locations primarily using at least one wheel mounted on the vehicle body.

[0005] Recently, in order to reduce the burden on drivers and improve convenience, there is active research on vehicles equipped with state-of-the-art driver support systems that proactively provide information about vehicle status, driver status, and the surrounding environment.

[0006] However, the technology implemented in vehicles traveling in the lane accounts for the majority of general driver support systems.

[0007] Accidents frequently occur when vehicles collide with walls on narrow, winding ramps (e.g., entrances and exits of indoor parking lots) without the assistance of inexperienced drivers, or when vehicle wheels are damaged by curbs. Therefore, there is an urgent need to develop technologies to reduce such accidents. Summary of the Invention

[0008] This disclosure is made to address the aforementioned problems in the prior art while fully preserving the advantages achieved by the prior art.

[0009] One aspect of this disclosure provides a system and method for avoiding vehicle collisions that may occur at the entrances and exits of an indoor parking lot.

[0010] The technical problems to be solved by this disclosure are not limited to those described above, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which this disclosure pertains based on the following description.

[0011] According to one aspect of this disclosure, a system for avoiding vehicle collisions includes: an operation determining device for determining whether a vehicle has entered a parking lot based on vehicle position information and tilt information; and a controller configured to: when it is determined that the vehicle has entered the parking lot, generate a virtual map of obstacles on a curve in the parking lot based on image information and distance information; generate a expected trajectory of the vehicle based on vehicle steering information and speed information; and predict a collision between an obstacle in the virtual map and the vehicle according to the expected trajectory based on the virtual map and the expected trajectory.

[0012] In one implementation, when it is determined that the vehicle has arrived at the parking lot based on location information, and the pitch angle exceeds or falls below a preset range based on tilt information, the operation determination device can determine that the vehicle is driving on the slope of the parking lot.

[0013] In one implementation, obstacles may include the walls and curbs of a curve.

[0014] In one implementation, when the controller receives information from the operation determining device that the vehicle has entered the parking lot, it can identify the walls and curbs of the curve based on image information obtained from the area in front of the vehicle, and generate a virtual map based on the identified walls and curbs.

[0015] In one implementation, the controller can correct errors in the virtual map relative to walls and curbs based on distance information provided from ultrasonic sensors.

[0016] In one implementation, based on the vehicle’s total width, total length and the position of each wheel, the controller can predict collisions between the vehicle and walls or curbs in a virtual map as the vehicle travels along a desired trajectory.

[0017] In one implementation, when a collision between a vehicle and a wall or curb in a virtual map is predicted, the controller can generate a warning notification for each predicted collision distance between the vehicle and the wall or curb.

[0018] In one embodiment, the system may further include a notification device for providing the warning notification information to the driver as at least one of visual or auditory information when the warning notification information is received.

[0019] In one implementation, when a collision between a vehicle and a wall or curb in a virtual map is predicted, and when the distance between the vehicle and the predicted collision wall or curb is less than a preset distance, the controller can generate braking information.

[0020] In one embodiment, the system may further include braking devices for stopping the vehicle when braking information is received.

[0021] In one embodiment, the system may further include navigation for providing location information, a pitch sensor for providing tilt information, a camera mounted at the front of the vehicle to provide image information, an ultrasonic sensor for providing distance information, a steering sensor for providing steering information, and a speed sensor for providing speed information.

[0022] In one implementation, a virtual map and the expected trajectory of motion can be provided to the driver as visual information via a display device installed in the vehicle.

[0023] According to another aspect of this disclosure, a method for avoiding collisions with a vehicle includes: determining, by an operation determination device, whether the vehicle is traveling on a sloping curve in a parking lot; identifying, by a controller, walls and curbs of the sloping curve based on an image of an area in front of the vehicle; generating, by the controller, a virtual map of the identified walls and curbs; calculating, by the controller, a predicted trajectory of the vehicle based on steering information and speed information; and predicting, by the controller, a collision between the vehicle and a wall or curb in the virtual map based on the predicted trajectory and the virtual map.

[0024] In one implementation, the method may further include the controller correcting errors in the virtual map based on distance information collected from the ultrasonic sensor.

[0025] In one implementation, collision prediction may include: a controller predicting a collision between the vehicle and a wall or curb in a virtual map as the vehicle travels along a desired trajectory, based on the vehicle's total width, total length, and the position of each wheel.

[0026] In one implementation, the method may further include: when a collision is predicted during a collision prediction operation, the controller provides a warning notification to the driver for each predicted collision distance between the vehicle and a wall or curb.

[0027] In one embodiment, the method may further include: when a collision is predicted during the collision prediction operation, and when the predicted collision distance between the vehicle and the wall or curb is less than a preset distance, stopping the vehicle by a braking device. Attached Figure Description

[0028] The above and other objects, features and advantages of this disclosure will become clearer from the following detailed description given in conjunction with the accompanying drawings, in which:

[0029] Figure 1 This is a diagram illustrating the configuration of a collision avoidance system for a vehicle according to an embodiment of the present disclosure;

[0030] Figure 2It is a flowchart illustrating the operation of a collision avoidance system for a vehicle according to embodiments of the present disclosure; and

[0031] Figure 3 and Figure 4 This is a diagram illustrating a collision avoidance system for a vehicle according to an embodiment of the present disclosure. Detailed Implementation

[0032] In the following, some embodiments of the present disclosure will be described in detail with reference to the exemplary accompanying drawings. When adding reference numerals to components in each drawing, it should be noted that the same reference numerals are used to denote components even when the same or equivalent components are shown in other drawings. Furthermore, in describing embodiments of the present disclosure, such detailed descriptions will be omitted if it is determined that a detailed description of a related known configuration or function would interfere with the understanding of the embodiments of the present disclosure.

[0033] In describing components according to embodiments of the present disclosure, terms such as first, second, A, B, (a), (b), etc., may be used. These terms are intended only to distinguish a component from other components, and they do not limit the nature, order, or sequence of the components. Unless otherwise defined, all terms used herein, including technical and scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It will also be understood that terms such as those defined in common dictionaries should be interpreted as having meaning consistent with their meaning in the context of the relevant art, and should not be interpreted as having an ideal or overly formal meaning, unless expressly defined herein.

[0034] In the following text, reference will be made to Figure 1 and Figure 2 The embodiments of this disclosure are described in detail.

[0035] refer to Figure 1 A collision avoidance system for a vehicle according to embodiments of the present disclosure may include a navigation device 11, a pitch sensor 12, a steering sensor 13, a speed sensor 14, an ultrasonic sensor 15, a camera 16, an operation determination device 20, a controller 30, a notification device 41, and a braking device 42.

[0036] The navigation device 11 can provide the vehicle's location information to the operation determination device 20.

[0037] The pitch sensor 12 can sense the vehicle's pitch angle and provide that pitch angle as tilt information to the operation determination device 20.

[0038] Steering sensor 13 can sense the vehicle's steering angle and provide that steering angle as steering information to controller 30.

[0039] Speed ​​sensor 14 can sense the speed of the vehicle and provide that speed as speed information to controller 30.

[0040] The ultrasonic sensor 15 can sense the distance between the vehicle and objects around the vehicle, and provide this distance as distance information to the controller 30.

[0041] Camera 16 can acquire images of the area around the vehicle and provide those images as image information to controller 30.

[0042] In this respect, camera 16 can acquire an image of the area in front of the vehicle and provide the acquired image to controller 30.

[0043] By determining whether the vehicle has entered the indoor parking lot based on the vehicle's position information provided by the navigation device 11 and the tilt information provided by the pitch sensor 12, the operation determination device 20 can generate operation control information for controlling whether to activate the controller 30.

[0044] For example, when it is determined that a vehicle has entered an indoor parking lot based on the vehicle's location and tilt information, the operation determination device 20 can generate operation control information that can activate the controller 30.

[0045] More specifically, when it is determined that the vehicle has arrived at the indoor parking lot based on the vehicle's location information, and when the vehicle's pitch angle exceeds or falls below a preset range based on tilt information, the operation determination device 20 can determine that the vehicle has entered the indoor parking lot.

[0046] Typically, the entrances and exits of indoor parking lots have steep inclines, so the operation determination device 20 can use the pitch angle to determine when a vehicle has arrived at the entrance or exit of the indoor parking lot.

[0047] Additionally, since the entrances and exits of indoor parking lots typically have curved sections with large curvatures, the entrances and exits may include curves in the following text.

[0048] In one example, when it is determined based on the vehicle's location information that the vehicle has not yet entered the indoor parking lot or has left the indoor parking lot, the operation determination device 20 can generate operation control information that can deactivate the controller 30.

[0049] More specifically, when a vehicle leaves an indoor parking lot based on its location information, the operation determination device 20 can generate operation control information that can deactivate the controller 30.

[0050] Whether to activate controller 30 can be determined based on the operation control information provided by operation determination device 20.

[0051] When the controller 30 is activated, it can generate notification and braking information based on steering information, speed information, distance information, and image information.

[0052] In this respect, the controller 30 can provide the generated notification information to the notification device 41 and can provide the braking information to the braking device 42.

[0053] When deactivated, controller 30 can stop generating notification and braking information based on steering, speed, distance, and image information.

[0054] In detail, when activated, the controller 30 can identify the walls and curbs at the entrance and exit of the indoor parking lot based on image information.

[0055] In this respect, the controller 30 can calculate the width between two opposing walls, as well as the vertical dimensions and width of the curb, based on image information.

[0056] In addition, the controller 30 can correct errors in the width between the two walls (the width of the entrance and the exit) and the vertical dimensions and width of the curb calculated based on the image information, based on distance information.

[0057] In addition, the controller 30 can convert the entrances and exits of the indoor parking lot, which are identified based on image information and distance information, into a two-dimensional virtual map.

[0058] The controller 30 can calculate the vehicle's expected trajectory based on steering and speed information.

[0059] When the vehicle travels along a planned trajectory calculated based on the vehicle’s total length, total width and the position of each wheel, the controller 30 can predict whether the vehicle will collide with a wall or curb that has been converted into a two-dimensional virtual map.

[0060] When a collision between the vehicle and a wall or curb identified by a two-dimensional virtual map is predicted based on the vehicle's expected trajectory, the controller 30 can generate a notification message to warn the driver for each distance between the vehicle and the predicted obstacle (wall or curb).

[0061] In this regard, the controller 30 can provide the generated notification information to the notification device 41.

[0062] In addition, when a collision between the vehicle and a wall or curb identified by a two-dimensional virtual map is predicted based on the vehicle's expected trajectory, the controller 30 can generate braking information for braking the vehicle when the distance between the vehicle and the predicted obstacle (wall or curb) is less than a preset distance.

[0063] In this respect, the controller 30 can provide the generated braking information to the braking device 42.

[0064] The notification device 41 can provide the driver with a warning notification about the collision prediction as at least one of visual or auditory information.

[0065] For example, notification device 41 may include at least one of a cluster, speaker, or AVN (audio-video navigation) system.

[0066] Braking device 42 may include a brake and may decelerate or stop the vehicle upon receiving braking information.

[0067] The operation of a collision avoidance system for a vehicle constructed according to an embodiment of this disclosure is as follows.

[0068] When the location information of the vehicle provided by the navigation device 11 determines that the vehicle has arrived at the indoor parking lot, and when the pitch angle exceeds or falls below a preset range based on the tilt information about the pitch angle provided by the pitch sensor 12, the operation determination device 20 can determine that the vehicle is driving at the entrance and exit of the indoor parking lot with ramps.

[0069] For example, when the pitch angle is 0 degrees, it can be determined that the vehicle is traveling on a flat surface; when the pitch angle decreases to a negative number, it can be determined that the vehicle is traveling downhill; and when the pitch angle increases to a positive number, it can be determined that the vehicle is traveling uphill.

[0070] Therefore, the operation determination device 20 can use the vehicle's location information provided by the navigation device 11 to determine that the vehicle has arrived at the indoor parking lot, and can determine that the vehicle is driving at the entrance and exit of the indoor parking lot with ramps based on tilt information including pitch angle.

[0071] When it is determined that a vehicle is driving at the entrance and exit of an indoor parking lot, the operation determination device 20 can generate operation control information that can activate the controller 30.

[0072] Ultimately, the controller 30 can be activated when the operation determining device 20 determines that the vehicle is driving at the entrance and exit of the indoor parking lot.

[0073] The activated controller 30 can identify the walls and curbs of the entrance and exit based on images of the area in front of the vehicle provided by the camera 16, and generate a virtual map based on the identified information.

[0074] Furthermore, the controller 30 can correct errors in the information identified using the image based on distance information provided from the ultrasonic sensor 15, and apply the corrected information to the generated virtual map.

[0075] After the controller 30 generates a virtual map in which the entrance and exit of the indoor parking lot are identified, the controller 30 can calculate the expected trajectory of the vehicle based on the steering information and speed information provided by the steering sensor 13 and the speed sensor 14, respectively.

[0076] When the vehicle is traveling along the expected trajectory, based on the calculated expected trajectory and the vehicle's total width, total length and the position of each wheel, the controller 30 can predict the vehicle's collision with the wall or curb of the virtual map.

[0077] In this regard, when a collision between a vehicle traveling along a predicted trajectory and a wall or curb is predicted, the controller 30 can provide a warning to the driver or stop the vehicle.

[0078] More specifically, when a collision is predicted, the controller 30 can generate a notification message containing a warning for each distance between the vehicle and a wall or curb.

[0079] In addition, when a collision is predicted, the controller 30 can generate braking information when the distance between the vehicle and the wall or curb is less than a preset distance.

[0080] In this regard, the controller 30 can provide the generated notification information to the notification device 41 to provide a collision warning to the driver, and provide braking information to the braking device 42 to stop the vehicle.

[0081] Furthermore, according to one embodiment of the present disclosure, a collision avoidance system for a vehicle can provide a notification device 41 with a virtual map generated based on image information and distance information provided from a camera and an ultrasonic sensor, respectively, and a predicted motion trajectory generated based on steering information and speed information provided from a steering sensor and a speed sensor, respectively, thereby providing the virtual map and the predicted motion trajectory as visual information to the driver.

[0082] Additionally, a collision avoidance system for a vehicle according to an embodiment of the present disclosure may provide a guideline to a notification device 41 when a collision is predicted, thereby providing the guideline to the driver as at least one of visual or auditory information.

[0083] The various implementations of the devices (e.g., operation determination devices) and controllers described herein can be implemented in digital electronic circuits, integrated circuits, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof.

[0084] The following will refer to Figure 2 A collision avoidance method for a vehicle collision avoidance system according to an embodiment of the present disclosure is described.

[0085] refer to Figure 2 According to one embodiment of the present disclosure, a vehicle collision avoidance method may include a parking lot entrance determination operation (S1), a camera image recognition operation (S2), an ultrasonic sensor information collection operation (S3), a 2D map generation operation (S4), a predicted motion trajectory calculation operation (S5), a collision probability determination operation (S6), a normal driving operation (S7), a warning and braking operation (S8), and a guide line provision operation (S9).

[0086] The parking lot entrance determination operation (S1) may include the following operations: when the vehicle has arrived at the parking lot based on the vehicle's location information provided by the navigation device 11, and when the pitch angle exceeds or falls below a preset range based on the tilt information provided by the pitch sensor 12, the vehicle is determined to be driving at the tilt entrance and exit of the parking lot.

[0087] The camera image recognition operation (S2) may include the following operation: when it is determined that the vehicle is driving at the sloping entrance and exit of the parking lot, the walls and curbs of the entrance and exit are identified based on images obtained from the camera 16 installed at the front of the vehicle.

[0088] The ultrasonic sensor information collection operation (S3) may include the following operation: when it is determined that the vehicle is driving at the sloping entrance and exit of the parking lot, collecting information from the ultrasonic sensor 15 about the distance to the wall and the width and vertical dimensions of the curb.

[0089] The 2D map generation operation (S4) may include the following operation: generating a virtual two-dimensional map of the walls and curbs of the inclined entrance and exit where the vehicle is traveling, based on the information identified in the camera image recognition operation (S2) and the information collected in the ultrasonic sensor information collection operation (S3).

[0090] The expected motion trajectory calculation operation (S5) may include the following operation: calculating the expected motion trajectory of the vehicle based on the vehicle's steering angle provided by the steering sensor 13 and the vehicle's speed provided by the speed sensor 14.

[0091] The collision probability determination operation (S6) may include the following operation: predicting whether the vehicle will collide with the walls or curbs of the inclined entrance and exit when the vehicle travels along the expected trajectory by matching a virtual 2D map with the expected trajectory based on the vehicle's specifications (total length, total width and position of each wheel).

[0092] When a collision is predicted in the collision probability determination operation (S6) ("Yes"), a warning and braking operation (S8) can be performed.

[0093] On the other hand, if a collision with the vehicle is not predicted in the collision probability determination operation (S6) ("No"), normal driving operation (S7) can be performed.

[0094] The warning and braking operation (S8) may include the following operations: when a collision is predicted, providing a warning to the driver for each distance between the vehicle and an obstacle (wall or curb) that may collide with the vehicle, and stopping the vehicle when the distance between the vehicle and the obstacle is less than a preset distance.

[0095] The guide line provision operation (S9) may include the following operation: providing a guide line for avoiding a vehicle collision to the driver.

[0096] Normal driving operation (S7) may include the following operation: the vehicle drives in an indoor parking lot including sloping entrances and exits without anticipating the possibility of a collision.

[0097] Figure 3 and Figure 4 This is a diagram illustrating a collision avoidance system for a vehicle according to an embodiment of the present disclosure.

[0098] In particular, Figure 3 and Figure 4 A screen may be displayed in which a virtual map of a collision avoidance system for a vehicle, the vehicle’s expected trajectory, and guide lines, according to an embodiment of the present disclosure, are implemented on the vehicle’s display device.

[0099] refer to Figure 3 Images of the area in front of and below the vehicle, obtained from the vehicle's front-facing camera, can be displayed on the left half of the screen A of the display device installed in the vehicle, while the virtual map and the vehicle's expected trajectory can be displayed on the right half of the screen B.

[0100] in this regard, Figure 3 It can show situations where the vehicle's expected trajectory does not anticipate a collision with a wall or curb on a virtual map.

[0101] refer to Figure 4 Images of the area in front of and below the vehicle, obtained from the vehicle's front-facing camera, can be displayed on the left half of the screen A of the display device installed in the vehicle, while the virtual map, the vehicle's expected trajectory, and guide lines can be displayed on the right half of the screen B.

[0102] in this regard, Figure 4 It can show guide lines when a collision with a wall or curb on a virtual map is anticipated based on the vehicle's expected trajectory.

[0103] The above description is merely an illustration of the technical concept of this disclosure, and those skilled in the art can make various modifications and changes without departing from the essential characteristics of this disclosure.

[0104] Therefore, the embodiments disclosed herein are not intended to limit the technical concept of this disclosure, but are used to illustrate this disclosure, and the scope of the technical concept of this disclosure is not limited by these embodiments. The scope of this disclosure should be construed as being covered by the scope of the appended claims, and all technical concepts falling within the scope of the claims should be construed as being included within the scope of this disclosure.

[0105] This technology can prevent accidents that damage vehicles on narrow, winding slopes, thereby improving driver convenience and preventing collisions.

[0106] In addition, various effects that can be determined directly or indirectly through this document can be provided.

[0107] In the foregoing, although the present disclosure has been described with reference to exemplary embodiments and accompanying drawings, the present disclosure is not limited thereto, but can be modified and altered by those skilled in the art without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

Claims

1. A collision avoidance system for a vehicle, the system comprising: An operation determination device is used to determine whether the vehicle has entered the parking lot based on the vehicle's location information and tilt information; as well as The controller is configured as follows: When it is determined that the vehicle has entered the parking lot, a virtual map of obstacles on the curves in the parking lot is generated based on image information and distance information. The expected trajectory of the vehicle is generated based on the vehicle's steering and speed information. The virtual map is displayed on a display device installed in the vehicle, and the expected motion trajectory is overlaid on the virtual map; The collision between the obstacle in the virtual map and the vehicle is predicted by matching the obstacle in the virtual map with the expected trajectory superimposed on the virtual map. as well as In response to a predicted collision, guide lines for collision avoidance are overlaid on the virtual map on the display device to provide the driver with visual information and auditory guidance to avoid the collision in the form of auditory information. The obstacles include curbs, and The controller is further configured as follows: Based on the image information, the curbs placed at the entrance and exit of the parking lot are identified; The vertical dimensions and width of the curb are obtained based on the image information; The error in the vertical dimension and width of the curb obtained based on the image information is corrected based on the distance information; and As the vehicle travels along a predicted trajectory based on the vehicle's total length, total width, and the position of each wheel, it is predicted whether the vehicle will collide with the curb, which is then converted into a two-dimensional virtual map.

2. The system according to claim 1, wherein, When the location information determines that the vehicle has arrived at the parking lot, and when the tilt information indicates that the pitch angle exceeds or falls below a preset range, the operation determining device determines that the vehicle is traveling on the slope of the parking lot.

3. The system according to claim 1, wherein, The obstacles include the walls and curbs of the curve.

4. The system according to claim 3, wherein, The controller is also configured to: The wall and curb of the curve are identified based on image information obtained from the area in front of the vehicle; as well as The virtual map is generated based on the identified walls and curbs.

5. The system according to claim 4, wherein, The controller is also configured to correct errors in the virtual map relative to the wall and the curb based on distance information provided from the ultrasonic sensor.

6. The system according to claim 1, wherein, The controller is also configured to predict collisions between the vehicle and walls in the virtual map as the vehicle travels along the expected trajectory, based on the vehicle's total width, total length, and the position of each wheel.

7. The system according to claim 6, wherein, The controller is also configured to generate a warning notification message for each predicted collision distance between the vehicle and the wall or the curb in the virtual map when a collision between the vehicle and the wall or the curb is predicted.

8. The system according to claim 7, further comprising: A notification device is configured to provide the warning notification information to the driver as at least one of visual or auditory information when the warning notification information is received.

9. The system according to claim 6, wherein, The controller is also configured to generate braking information when a collision between the vehicle and a wall or curb in the virtual map is predicted, and when the distance between the vehicle and the wall or curb predicted to collide with the vehicle is less than a preset distance.

10. The system according to claim 9, further comprising: A braking device for stopping the vehicle when the braking information is received.

11. The system according to claim 1, further comprising: Navigation device, used to provide the location information, A pitch sensor is used to provide the tilt information. A camera, mounted at the front of the vehicle, is used to provide the image information. An ultrasonic sensor is used to provide the distance information. A steering sensor is used to provide the steering information, and A speed sensor is used to provide the speed information.

12. A method for avoiding collisions with a vehicle, the method comprising: The operation determining device determines whether the vehicle is driving on the inclined curve of the parking lot; The controller identifies the walls and curbs of the inclined curve based on an image of the area in front of the vehicle; The controller generates a virtual map of the identified walls and curbs; The controller calculates the vehicle's expected trajectory based on steering and speed information. The virtual map is displayed on a display device installed in the vehicle, and the expected motion trajectory is overlaid on the virtual map; The controller predicts the collision between the vehicle and the wall or curb in the virtual map by matching the wall and curb in the virtual map with the expected trajectory superimposed on the virtual map; as well as In response to a predicted collision, guide lines for collision avoidance are overlaid on the virtual map on the display device to provide the driver with visual information and auditory guidance to avoid the collision in the form of auditory information. The identification of walls and curbs includes: the controller identifying curbs placed at the entrance and exit of the parking lot based on image information; The method further includes: The controller obtains the vertical dimensions and width of the curb based on the image information; and The controller corrects for errors in the vertical dimensions and width of the curb obtained from the image information based on distance information, and The collision prediction includes: when the vehicle is traveling along a predicted trajectory based on the total length, total width and position of each wheel, the controller predicts whether the vehicle will collide with the curb, which is converted into a two-dimensional virtual map.

13. The method of claim 12, further comprising: The controller corrects errors in the virtual map based on distance information collected from ultrasonic sensors.

14. The method according to claim 12, wherein, Collisions are predicted to include: The controller predicts collisions between the vehicle and walls or curbs in the virtual map when the vehicle travels along the expected trajectory, based on the vehicle's total width, total length, and the position of each wheel.

15. The method of claim 12, further comprising: When a collision is predicted during a collision prediction operation, the controller provides a warning notification to the driver for each predicted collision distance between the vehicle and the wall or the curb.

16. The method of claim 12, further comprising: When a collision is predicted during the collision prediction operation, and the predicted collision distance between the wall and the vehicle is less than a preset distance, the vehicle is stopped by the braking device.

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