Vehicle and tax procedure for this

Abstract

Vehicle (1) which has: a speed sensor (210) configured to detect speed information, a direction sensor (220) configured to detect direction of travel information, a radar (230) configured to detect an object approaching the vehicle (1), and a control unit (300) configured to estimate a movement path (R2) of an object (V1) moving in a rear lane (R1) and approaching the vehicle (1) from behind, and to determine whether the vehicle (1) is capable of entering the rear lane (R1) based on the speed information detected by the speed sensor (210), the direction of travel information detected by the direction sensor (220), and data of the object detected by the radar (230), and to determine a probability of a collision with the object (V1) approaching the vehicle (1) in the rear lane (R1), wherein, when the control unit (300) determines whether the vehicle (1) is capable of entering the rear lane (R1), the control unit (300) is configured to determine whether the vehicle (1) needs to reverse to enter the rear lane (R1) or needs to move forward and turn to enter the rear lane (R1), and wherein, when the control unit (300) determines that the vehicle (1) must reverse in order to enter the rear lane (R1), the control unit (300) is configured to estimate a first time (T1) taken for a rear end of the vehicle (1) to reach the rear lane (R1), a second time (T2) taken for a front end of the object (V1) to reach a position at which the rear end of the vehicle (1) reaches the rear lane (R1), and a third time (T3) taken for a rear end of the object (V1) to reach the position at which the rear end of the vehicle (1) reaches the rear lane (R1), and, when the control unit (300) determines that the first time (T1) is greater than the second time (T2) and less than the third time (T3), the control unit (300) is configured to Probability of a collision to be detected.

Description

Background of the invention 1. Field of the invention

[0001] The present disclosure / invention relates to a method of estimating (e.g., calculating) a movement path of an object approaching a moving vehicle from behind and determining a probability of entering a rear lane and a probability of collision. 2. Description of the technology purchased

[0002] A developed vehicle safety technology includes a collision avoidance assistance system capable of detecting an object approaching a vehicle using radar, a camera, etc., determining the risk of collision with the object, and informing a driver of the vehicle of the risk of collision or decelerating the vehicle. A typical rear-end collision avoidance system detects, when a vehicle is reversing, another vehicle approaching the vehicle within a blind spot to determine the risk of collision. As described in Fig. As shown in Figure 3, the prior art technology would be unable to detect a dangerous situation if an object approaches the vehicle from a location outside the blind spot. For example, if another vehicle approaches the vehicle in a direction parallel to a direction of travel of the vehicle while the vehicle is reversing, the prior art technology would be unable to detect the other vehicle as a vehicle at risk of collision.

[0003] However, when the vehicle is reversing while the other vehicle is entering the driver's field of vision, the driver has difficulty accurately determining the risk of a collision with the other vehicle approaching from behind. Accordingly, a technology is needed to determine the risk of a collision with another vehicle approaching from behind when a vehicle is reversing, without considering a blind spot, in order to control the vehicle.

[0004] JP 2017- 65 357 A discloses a risk level calculation device.

[0005] US 2014 / 0 028 451 A1 discloses a vehicle surroundings alarm device.

[0006] US 2009 / 0 157 260 A1 discloses an automatic parking system for a vehicle. Explanation of the invention

[0007] The object of the present invention is to provide a vehicle which, when reversing, is capable of determining a risk of collision with another vehicle approaching from behind (e.g., approaching, coming closer) without taking a blind spot (e.g., blind spot), and to provide a method for controlling the vehicle. It is a further object of the present invention to provide a vehicle which, when entering a rear lane, is capable of selecting one of a method of reversing and a method of moving forward (e.g., driving forward) and (then) turning, and of determining a risk of collision with another vehicle approaching from behind (e.g., approaching, coming closer) according to (e.g., depending on) the selected method, and to provide a method for controlling the vehicle.Additional aspects of the disclosure / invention will be set forth in part in the description which follows and in part will be obvious from the description or may be learned by practicing the disclosure / invention.

[0008] To achieve the object(s), the present invention provides a vehicle comprising: a speed sensor (e.g., a driving speed sensor) configured to detect speed information (e.g., driving speed information), a direction sensor configured to detect driving direction information, a radar (e.g., a radar sensor, a radar device) configured to detect (e.g., detect) an object approaching (e.g., approaching, coming closer) to the vehicle, and a control unit configured to estimate (e.g., calculate) a movement path of an object moving in a rear lane (e.g., driving in a rear lane) and approaching (e.g., approaching, coming closer) to the vehicle from behind (e.g., from the rear of the vehicle), and to determine whether the vehicle is capable of entering the rear lane (e.g.,to enter the rear lane) based on the speed information detected by the speed sensor, the direction of travel information detected by the direction sensor, and data of the object detected (e.g. detected) by the radar, and to determine a probability of a collision (e.g. a collision probability) with the object approaching (e.g. approaching) the vehicle in the rear lane, wherein, when the control unit determines whether the vehicle is capable of entering the rear lane, the control unit is configured to determine whether the vehicle needs to reverse (e.g. has to reverse, back up) to enter the rear lane, or move forward (e.g. drive forward) and (then) turn (e.g.drive a curve, drive around a bend, drive with a predetermined steering angle) in order to (then) enter the rear lane, and wherein, when the control unit determines that the vehicle has to reverse (e.g., back up) in order to enter the rear lane, the control unit is configured to estimate (e.g., calculate) a first time T1 (e.g., a first period of time T1) taken for a rear end of the vehicle to reach the rear lane, a second time T2 (e.g., a second period of time T2) taken for a front end of the object to reach a point (e.g., a location, a position) at (e.g., at) which the rear end of the vehicle reaches the rear lane, and a third time T3 (e.g., a third period of time T3) taken for a rear end of the object to reach the point (e.g., the location) at (e.g.,at) which the rear end of the vehicle reaches the rear lane, and, if the control unit determines that the first time T1 is greater (eg longer) than the second time T2 and smaller (eg shorter) than the third time T3, the control unit is arranged to detect (eg determine) a probability of a collision (eg a collision probability).

[0009] The control unit can be configured to virtually generate the rear lane based on the object's path of travel. If the control unit determines that the vehicle must move forward and then turn to enter the rear lane, the control unit can be configured to calculate a time (e.g., a period of time) at (e.g., after) which the vehicle will be able to enter the rear lane with a minimum turning radius (e.g., turning radius, curve radius).

[0010] Furthermore, the control unit may be configured to estimate (e.g., calculate) a fourth time T4 (e.g., a fourth period of time T4) taken for the vehicle to move forward (e.g., drive forward) from a current location (e.g., a current spot, a current position) and then turn to fully enter the rear lane, a fifth time T5 (e.g., a fifth period of time T5) taken for a front end of the object to reach a rear end of the vehicle when the vehicle has fully entered the rear lane, and a sixth time T6 (e.g., a sixth period of time T6) taken for a rear end of the object to reach a front end of the vehicle when the vehicle has fully entered the rear lane. If the control unit determines that the fourth time T4 is greater (e.g., longer) than the fifth time T5 and smaller (e.g.,shorter) than the sixth time T6, the control unit may be configured to detect (e.g. determine) a probability of a rear collision (e.g. for a collision at the rear of the vehicle, a rear collision).

[0011] The control unit may be configured to estimate (e.g., calculate) a seventh time T7 (e.g., a seventh period of time T7) and a moving distance D1 (e.g., a moving distance D1) that are taken for a speed of the vehicle to reach a speed of the object after the vehicle has completely entered (e.g., entered) the rear lane, and to estimate (e.g., calculate) an eighth time T8 (e.g., an eighth period of time T8) that is taken for the front end of the object to reach the rear end of the vehicle when the speed of the vehicle has reached (e.g., reached) the speed of the object. If the control unit determines that the seventh time T7 is greater (e.g., longer) than the eighth time T8, the control unit may be configured to detect (e.g., determine) a probability of a rear collision (e.g., a rear-end collision, for a collision at the rear of the vehicle).

[0012] The control unit may be configured to estimate (e.g., calculate) a ninth time T9 (e.g., a ninth period of time T9) taken for the vehicle to reach a point (e.g., a location, a position) at (e.g., at) which the front end of the vehicle reaches the rear lane, a tenth time T10 (e.g., a tenth period of time T10) taken for the front end of the object to reach the point (e.g., the location) at (e.g., at) which the front end of the vehicle reaches the rear lane, and an eleventh time T11 (e.g., an eleventh period of time T11) taken for the rear end of the object to reach the point (e.g., the location) at (e.g., at) which the front end of the vehicle reaches the rear lane. If the control unit determines that the ninth time T9 is greater (e.g., longer) than the tenth time T10 and smaller (e.g.,shorter) than the eleventh time T11, the control unit may be configured to detect (e.g., determine) a probability of a rear side collision (e.g., a side rear collision, a side collision at the rear of the vehicle).

[0013] The vehicle may further comprise a drive device configured to actuate (e.g., operate) the vehicle according to (e.g., in dependence on) a control (e.g., an actuation) of the control unit. Furthermore, the vehicle may further comprise a communication device configured to transmit (e.g., send) data to and receive data from another vehicle. If the object is determined to be another vehicle (e.g., if it is determined that the object is another vehicle), the control unit may be configured to determine whether the vehicle is capable of entering the rear lane based on data from the other vehicle received by means of the communication device, and to detect (e.g., determine) a probability of a collision.

[0014] To achieve the object(s), the present invention further provides: a method for controlling a vehicle, comprising: detecting / capturing by means of a control unit speed information (e.g. driving speed information) and driving direction information, detecting (e.g. recognizing) by means of the control unit an object moving in a rear lane (e.g. driving in a rear lane) and approaching the vehicle (e.g. approaching, coming closer) to capture object data (e.g. detecting), estimating (e.g.Calculating) by means of the control unit a movement path of the object based on the object data, Determining, by means of the control unit, whether the vehicle is able to enter the rear lane based on the speed information, the direction of travel information and the object data and Determining, by means of the control unit, a probability of a collision with the object moving in the rear lane and approaching the vehicle, wherein determining whether the vehicle is able (e.g., able) to enter the rear lane comprises: Determining, by means of the control unit, whether the vehicle has to reverse (e.g., back up) to enter the rear lane or move forward (e.g.,drive forward) and (then) has to turn to enter the rear lane, and wherein determining the probability of a collision comprises: when the vehicle has to reverse to enter the rear lane, estimating (e.g. calculating), by means of the control unit, a first time T1 (e.g. a first period of time T1) taken (for) that a rear end of the vehicle reaches the rear lane, a second time T2 (e.g. a second period of time T2) taken (for) that a front end of the object reaches a point (e.g. a location, a position) at (e.g. at) which the rear end of the vehicle reaches the rear lane, and a third time T3 (e.g. a third period of time T3) taken (for) that the rear end of the object reaches the point (e.g. the location) at (e.g. at) which the rear end of the vehicle reaches the rear lane, and detecting (e.g.Determining, by means of the control unit, a probability of a collision when the first time T1 is greater (e.g. longer) than the second time T2 and smaller (e.g. shorter) than the third time T3.

[0015] Estimating the object's path of travel may include virtually generating the rear lane based on the object's path of travel. Furthermore, in response to determining that the vehicle must move forward and then turn to enter the rear lane, the method may include calculating a time at which the vehicle is able to enter the rear lane with a minimum turn radius.

[0016] Determining the probability of a collision may further comprise estimating (e.g., calculating) a fourth time T4 taken for the vehicle to move forward (e.g., drive forward) from a current position (e.g., a current location) and then turn to fully enter the rear lane, a fifth time T5 (e.g., a fifth time period T5) taken for a front end of the object to reach a rear end of the vehicle when the vehicle has fully entered the rear lane, and a sixth time T6 (e.g., a sixth time period T6) taken for a rear end of the object to reach a front end of the vehicle when the vehicle has fully entered the rear lane, and detecting (e.g., determining) a probability of a rear collision (e.g.,a rear collision, a collision at the rear of the vehicle) if the fourth time T4 is greater (e.g. longer) than the fifth time T5 and smaller (e.g. shorter) than the sixth time T6.

[0017] Determining the probability of a collision may further comprise estimating (e.g., calculating) a seventh time T7 (e.g., a seventh period of time T7) and a moving distance D1 (e.g., a moving distance D1) taken for a speed of the vehicle to reach a speed of the object after the vehicle has completely entered (e.g., entered) the rear lane, and estimating (e.g., calculating) an eighth time T8 (e.g., an eighth period of time T8) taken for the front end of the object to reach the rear end of the vehicle when the speed of the vehicle reaches the speed of the object, and detecting (e.g., determining) a probability of a rear collision (e.g., a rear-end collision, a rear-of-the-vehicle collision) in response to determining that the seventh time T7 is greater (e.g., longer) than the eighth time T8.

[0018] Furthermore, determining the probability of a collision may comprise estimating (e.g., calculating) a ninth time T9 (e.g., a ninth period T9) taken for the vehicle to reach a point (e.g., a location, a position) at (e.g., at) which the front end of the vehicle reaches the rear lane, a tenth time T10 (e.g., a tenth period T10) taken for the front end of the object to reach the point (e.g., the location) at (e.g., at) which the front end of the vehicle reaches the rear lane, and an eleventh time T11 (e.g., an eleventh period T11) taken for the rear end of the object to reach the point (e.g., the location) at (e.g., at) which the front end of the vehicle reaches the rear lane, and detecting (e.g., determining) a probability of a rear side collision (e.g.,a side-rear collision, a side-on collision at the rear of the vehicle), in (e.g., in) response to determining that the ninth time T9 is greater (e.g., longer) than the tenth time T10 and less (e.g., shorter) than the eleventh time T11. Brief description of the drawings

[0019] These and / or other aspects of the invention / disclosure will be apparent or more easily appreciated (e.g., understood) from the following description of the embodiments taken together with the accompanying drawings, of which: Fig. 1 shows the external appearance of a vehicle according to an exemplary embodiment of the present disclosure / invention, Fig. 2 shows the interior of a vehicle according to an exemplary embodiment, Fig. 3 shows a method for controlling a vehicle according to the prior art, Fig. 4 is a view describing a difference between a vehicle according to an embodiment and a control method thereof and a typical technology, Fig. 5 is a control block diagram of a vehicle according to an exemplary embodiment of the present disclosure / invention, Fig. 6 and Fig. 7 are flowcharts illustrating a vehicle control method according to an exemplary embodiment of the present disclosure / invention, and Fig. 8A to Fig. 12 are views illustrating a vehicle control method in detail according to an exemplary embodiment of the present disclosure / invention. Detailed description

[0020] It is to be understood that the terms "vehicle" or "vehicle-..." or other similar term used herein includes motor vehicles in general, which include passenger vehicles, including sport utility vehicles (SUVs), buses, trucks, numerous commercial vehicles, watercraft, including a variety of boats and ships, as well as aircraft and the like, and include hybrid vehicles, electric vehicles, internal combustion vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels produced from resources other than petroleum).

[0021] Although an exemplary embodiment is described as utilizing a plurality of units to perform the exemplary method, it is to be understood that the exemplary operations may also be performed by a single module or a plurality of modules. Additionally, it is to be understood that the term controller / controller refers to a hardware device including a memory and a processor. The memory is configured to store the modules, and the processor is specifically configured to execute said modules to perform one or more operations described below.

[0022] Furthermore, the control logic of the present invention may be embodied as non-transitory, computer-readable means / data on a computer-readable medium, comprising executable program instructions executed by a processor, a controller / device, or the like. Examples of computer-readable media include, but are not limited to, ROM, RAM, compact discs (CD-ROMs), magnetic tapes, floppy disks, flash drives / memory drives, smart cards, and optical storage devices. The computer-readable recording medium may also be distributed in network-coupled computer systems such that the computer-readable means / data are stored and executed in a distributed manner, e.g., via a telematics server or a controller area network (CAN).

[0023] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms "a," "an," and "the," as used herein, are intended to include the plural forms, unless the context clearly indicates otherwise. Further, it is to be understood that the terms "comprise" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, acts, elements, and / or components, but do not preclude the presence or addition of one or more additional features, integers, steps, acts, elements, components, and / or groups thereof. As used herein, the term "and / or" includes any and all combinations of one or more of the relatedly enumerated items.

[0024] Unless specifically stated or obvious from the context, the term "about" as used herein means "within the range of tolerances usual for this technique," for example, two standard deviations from the mean. "About" can be understood as within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, 0.05%, or 0.01% of the stated value. Unless otherwise clear from the context, all numerical values ​​provided herein are modified by the term "about."

[0025] Like reference numerals refer to like elements throughout this description. This description does not describe all components of exemplary embodiments, and common information in the technical field to which the present disclosure / invention belongs or overlapping information between the embodiments will not be described. The terms "~part," "~module," "~element," and "~block" as used herein may be implemented in software or hardware, and according to embodiments, a plurality of "~parts," "~modules," "~elements," or "~blocks" may be implemented as a single component, or a single "~part," "~module," "~element," or "~block" may comprise a plurality of components.

[0026] Throughout this specification, when a section is "connected" to another section, this includes the case where the section is indirectly connected to the other section, as well as the case where the section is directly connected to the other section, and the indirect connection includes a connection through a wireless communications network. It should be understood that although the terms first, second, third, etc. may be used herein to describe various components, these components are not intended to be limited by these terms. These terms are used only to distinguish one component from another component.Reference numerals used in operations are provided for convenience of description without describing the order of the operations, and the operations may be performed in an order different from the stated order unless a specific order is clearly indicated in the context.

[0027] Hereinafter, an operating principle and embodiments of the present disclosure / invention will be described in detail with reference to the accompanying drawings. Fig. 1 shows the external appearance of a vehicle according to an exemplary embodiment, and Fig. 2 shows the interior (e.g., the passenger compartment) of the vehicle according to an exemplary embodiment.

[0028] Referring to Fig. 1, a vehicle 1 may comprise a main body (e.g., a body) 10, which forms the external appearance of the vehicle 1, a windshield (e.g., a front window) 11, which is configured to provide a driver with a front view of the vehicle 1 (e.g., a view forward from the vehicle 1), a plurality of side mirrors (e.g., exterior mirrors) 12, which are configured to provide the driver with a side and a rear view of the vehicle 1 (e.g., a view to the side and a view rearward from the vehicle 1), a plurality of doors 13, which are configured to shield the interior of the vehicle 1 from the exterior, a roof panel 15, a plurality of filling elements (e.g., support elements, intermediate elements) 14, which are configured to hold (e.g., support) the roof panel 15, a rear window glass (e.g., a rear window pane, a Rear window) 16, a plurality of turning signals (e.g.Turn signal lights, indicator lights, turn signals) 17, a plurality of front wheels (e.g. front wheels) 21 arranged in a front portion of the vehicle 1, and a plurality of rear wheels (e.g. rear wheels) 22 arranged in a rear portion of the vehicle 1, wherein the front wheels 21 and the rear wheels 22 are / are collectively referred to as wheels.

[0029] The windshield 11 may be arranged in the front upper portion of the main body 10 to allow (e.g., enable) the driver inside the vehicle 1 to obtain (e.g., collect, perceive) visual information (e.g., regarding) a front view of the vehicle 1 (e.g., a view forward from the vehicle 1). Furthermore, the side mirrors 12 may comprise a left side mirror (e.g., a left outside mirror) arranged on the left side of the main body 10 and a right side mirror (e.g., a right outside mirror) arranged on the right side of the main body 10 to allow the driver inside the vehicle 1 to obtain (e.g., collect, perceive) visual information regarding a side and rear view (e.g., a view to the side and a view to the rear with respect to) the vehicle 1. The doors 13 may be pivotable (e.g.,Rotatable doors 13 may be arranged on the left and right sides of the main body 10 to allow the driver to open one of the doors to enter the vehicle 1 (e.g., to get into the vehicle 1). The doors 13 may shield the interior of the vehicle 1 from the exterior when all of the doors (e.g., all doors) are closed.

[0030] A chassis (e.g., a chassis) of the vehicle 1 may include a power generation system, a power transmission system, a drive system, a steering system (e.g., a steering system), a braking system, an acceleration system, a suspension system, a transmission system, a fuel system, and front, rear, left, and right wheels. The vehicle 1 may include various safety systems for the safety of a driver and occupants (e.g., passengers). As an example of the braking system, a brake pedal 131 may be installed within the vehicle 1, and as an example of the acceleration system, an accelerator pedal 132 may be installed within the vehicle 1.

[0031] In particular, the safety systems of the vehicle 1 may include an airbag system to ensure (e.g., to guarantee) the safety of a driver and occupants (e.g., passengers) following a collision (e.g., a crash), and an electronic stability control (ESC) system (e.g., an electronic stability control system) to prevent a loss of control of the vehicle 1 (e.g., control over the vehicle 1) when the vehicle 1 accelerates rapidly (e.g., sharply, abruptly) or turns quickly (e.g., corners, makes a turn, drives with a predetermined steering angle). The vehicle 1 may include an electronic control unit (ECU).“electronic control unit”) which is designed to operate the power generation system, the power transmission system, the drive system, the steering system, the braking system, the suspension system, the transmission system, the fuel system, the various safety systems and the sensors.

[0032] In addition, the vehicle 1 can have various types of sensors 200. For example, the vehicle 1 can have a proximity sensor (e.g., an approach sensor) configured to detect (e.g., an obstacle or another vehicle in front of, behind, or to the side of the vehicle(s) 1 (e.g., the subject vehicle(s), the travel vehicle(s), the first vehicle(s)), a rain sensor configured to detect rain and an amount of rain (e.g., precipitation), a speed sensor 210 configured to detect the rotational speed of the wheels 21 and 22 of the vehicle 1 (in order to, for example, determine the driving speed therefrom), a lateral acceleration sensor configured to detect a lateral acceleration of the vehicle 1, a yaw rate sensor configured to detect a change in the yaw rate (e.g.,a change in the rotation rate around the rotation axis) of the vehicle 1, a gyro sensor and a direction sensor 220 which is configured to detect a rotation of a steering wheel (e.g. a steering wheel angle) and a direction of travel of the vehicle 1.

[0033] The sensors 200 may further include a sensor configured to measure a distance (e.g., a pitch) to an object at (e.g., at) predetermined time intervals, such as a laser sensor, an infrared sensor, a radar (e.g., a radar sensor) 230, and a LiDAR sensor. The LiDAR sensor may be configured to emit laser light and detect laser light reflected from a target object in order to detect (e.g., detect) a distance (e.g., a pitch) to the target object, a direction toward the target object, a speed of the target object, a temperature of the target object, a material distribution of the target object, a concentration property of the target object, etc. The LiDAR sensor may further be configured to examine the target object by scanning (e.g., detecting) the surface of the target object and to generate scanned (e.g., detected) point data (e.g.,Sampled point data, detected point data).

[0034] Furthermore, the vehicle 1 may include an imaging device 240 (e.g., a camera, video camera, etc.) for recording (e.g., photographing) the surroundings of the vehicle 1 to collect image data relating to the surroundings of the vehicle 1. The radar 230 or the camera 240 may be installed in a front radiator grille (e.g., a front grille) or a front headlight (e.g., a headlight) of the vehicle 1. The radar 230 or the camera 240 may be integrated into a heating wire in a rear portion of the roof panel 15, that is, an upper portion of the rear window glass 16. In other words, the radar 230 or the camera 240 may be installed at any location.

[0035] Referring to Fig. 2, the interior (e.g., the interior) 120 of the main body 10 may include a plurality of seats 121 (121a and 121b) configured to accommodate a passenger, an instrument panel 122, an instrument panel (i.e., a cluster display 123) disposed on the instrument panel 122 and on which a tachometer, a speedometer, a coolant thermometer (e.g., a coolant thermometer), a fuel gauge (e.g., a fuel tank level indicator), a turn signal indicator light, a high beam indicator light, a warning light, a seat belt warning light, a distance meter (e.g., a total distance meter), a trip recorder (e.g., a trip meter), an automatic transmission (select) lever indicator light, an open door warning light, an engine oil warning light, a Fuel warning light, etc. are mounted, a steering wheel 124 to enable the driver to select a direction of movement (e.g.direction of travel) of the vehicle 1, and a central dashboard section (e.g. a central instrument panel) 125 on which an audio system and an air conditioning control panel are mounted.

[0036] The seats 121 may include a driver seat 121a, a passenger seat (e.g., occupant seat) 121b, and a rear seat located rearward within the vehicle 1. The cluster display 123 may be implemented digitally. In other words, the cluster display 123 implemented digitally may be configured to display information related to the vehicle 1 and driving information, such as (for example) images. The center dashboard portion 125 may include a main unit 126 disposed in the dashboard 122 between the driver seat 121a and the passenger seat 121b and configured to operate the audio system, air conditioning, and seat heaters. The head unit 126 may include a plurality of buttons (e.g., knobs, buttons) or other input interfaces to receive commands to operate the audio system, the air conditioning system, and the seat heaters.In the center dashboard portion 125, a vent (e.g., a ventilation grille), a cigarette lighter (e.g., a cigarette lighter socket, a cigarette lighter receptacle), a multi-port 127, etc. may be installed. The multi-port 127 may be disposed adjacent to (e.g., adjacent to) the head unit 126 and may further include a USB port, an AUX port, and an SD slot (e.g., an SD card slot).

[0037] The vehicle 1 may further include an input device 128 configured to receive commands for performing various functions, and a display 129 configured to display information relating to a function being performed and information input by a user. The input device 128 may be mounted on (e.g., on) at least one of the main unit 126 and the center dashboard portion 125 and may include at least one physical button (e.g., a physical knob), such as on / off buttons for performing or pausing various functions, buttons for changing setting values ​​of the various functions, etc. The input device 128 may be configured to transmit button actuation signals to the ECU or an audio-video navigation (AVN) system 130.

[0038] Furthermore, the input device 128 may comprise a touch panel (e.g., a touch-sensitive panel) integrated into a display of the AVN system 130. The input device 128 may be activated in the form of keys (e.g., buttons) and may be displayed on (e.g., on) the display of the AVN system 130, and in this case, the input device 128 may be configured to receive position information of the displayed keys (e.g., buttons) (e.g., position information of the user input). The input device 128 may further comprise a rotary wheel (not shown) or a touch pad (e.g., a touch pad, a touch-sensitive pad) for receiving a command to move or select a pointer displayed on (e.g., on) the display of the AVN system 130. The rotary wheel or the touch panel can be located on (e.g.) the central dashboard section, etc.

[0039] In particular, the input device 128 may be configured to receive a user input selecting one of an autonomous driving mode and a manual driving mode, in which a driver (solely) has control of the vehicle. When the input device 128 receives a user input selecting the autonomous driving mode, the input device 128 may be configured to send (e.g., transmit) an input signal of the autonomous driving mode to a control unit. The control unit may then be configured to distribute signals to various components within the vehicle 1, and also to transmit control signals for the components within the vehicle 1 to the individual (e.g., respective) components. The control unit may be an ECU. The term "control unit" is used to be interpreted in a broad sense and is not limited by the terminology.

[0040] Furthermore, when a navigation function is selected, the input device 128 may be configured to receive information concerning a destination and send (e.g., transmit) the information to the AVN system 130. When a digital multimedia broadcasting (DMB) function is selected, the input device 128 may be configured to receive channel and volume information and transmit the channel and volume information to the AVN system 130. The display panel of the display 128 may be a light-emitting diode (LED) panel, an organic light-emitting diode (OLED) panel, or a liquid crystal display (LCD) panel.

[0041] The AVN system 130 may be provided in the center dashboard section 126 to receive information from the user and output results corresponding to the received information. The AVN system 130 may perform at least one of the navigation function, the DMB function, an audio function, and a video function, and display driving information and environmental information (e.g., surrounding information) of a road in the autonomous driving mode. The AVN system 130 may be mounted on the dashboard 122. Furthermore, the vehicle 1 may optionally include various electronic devices, such as a hands-free system for improving driver comfort, a global positioning system (GPS), an audio system, a Bluetooth device, a rear camera (e.g., a rearview camera), a terminal charging device, and a high-pass device.

[0042] The vehicle 1 may further include a start button (e.g., a cranking button) configured to receive an input for an actuation command to a start motor (e.g., a starter motor) (not shown). In other words, when the start button is turned on or otherwise actuated, the vehicle 1 may actuate the start motor (not shown) and operate (e.g., drive) an internal combustion engine (not shown), which is a power generating device. The vehicle 1 may further include a battery (not shown) electrically connected to the terminal, the audio system, the interior lamp, the start motor, and the other electronic devices to provide (e.g., supply) drive power thereto. The battery may be charged using a generator thereof or power of the internal combustion engine during driving.

[0043] Fig. 4 is a view illustrating a difference between a vehicle according to an embodiment and a control method thereof, as well as a typical technology. Referring to Fig. 4, according to an exemplary embodiment, when reversing, the vehicle 1 may determine a probability or risk of a collision (e.g., a crash) with another vehicle V1 entering (e.g., driving into) the view (e.g., field of view) of a driver (e.g., a view of a driver within the subject vehicle, a field of view of a driver within the subject vehicle), in contrast to typical technology.

[0044] In order to determine a probability or risk of a collision with another vehicle V1, the vehicle 1 (e.g. the subject vehicle or the traveling or moving vehicle) may first be configured to determine whether reversing into a rear lane is possible, and then the vehicle 1 may be configured to determine whether reversing of the subject vehicle is necessary to enter the rear lane, or (whether) moving forward (e.g. driving forward) and then turning (e.g. driving around a curve, driving around a bend, driving with a predetermined steering angle) with a minimum turning radius (e.g. turning radius) (is necessary) to enter the rear lane.Thereafter, the vehicle 1 may be configured to determine whether there is a probability or risk of a collision with another vehicle V1 approaching the vehicle 1 from behind when the vehicle enters the rear lane. Therefore, according to one embodiment, the vehicle 1 may be configured to determine a collision probability (e.g., a probability of a collision) without regard to a blind spot (e.g., a blind spot) when another vehicle V1 approaches (e.g., approaches) the vehicle 1 from behind.

[0045] Fig. 5 is a control block diagram of a vehicle according to an exemplary embodiment. Referring to Fig. 5, the vehicle 1 may include a sensor 200, a control unit 300, and a user interface 400. Furthermore, the vehicle 1 may include a drive system 500 configured to actuate (e.g., operate) the vehicle 1, and a communication device 600 configured to transmit (e.g., send) data to and receive data from other vehicles.

[0046] The sensor 200 may comprise a plurality of sensors 200 mounted within the vehicle 1, as described above. In other words, the vehicle 1 may comprise the speed sensor 210 configured to detect speed information, the direction sensor 220 configured to detect heading information, and the radar 230 configured to detect an object approaching the vehicle 1. The vehicle 1 may further comprise the camera 240 configured to capture environmental images to capture (e.g., detect) image data.

[0047] In particular, the radar 230 may be configured to detect (e.g., a nearby object) to generate object data. The radar 230 may be configured to emit (e.g., transmit) electromagnetic waves and measure electromagnetic waves reflected from objects detected within a measurement range, thereby measuring distances (e.g., distances) to the objects. Furthermore, the radar 230 may be configured to measure spatial coordinates (e.g., space coordinates) of an object and collect three-dimensional (3D) information of the object based on the spatial coordinates of the object. The radar 230 may also be configured to measure a speed of a nearby object (e.g., a nearby object).

[0048] The camera 240 or the imaging device can be configured to capture images of the surroundings to generate image data. In particular, the camera 240 can be configured to capture images of the surroundings to capture (e.g., detect) an image of an object that exists around the vehicle 1. In other words, the camera 240 can be configured to capture (e.g., detect) an image of another vehicle that is located in front of, behind, or next to the vehicle 1, and an image of a surrounding environment (e.g., environment). The camera 240 can also be configured to capture (e.g., detect) an image of a road on which the vehicle 1 is driven.

[0049] The control unit 300 may be configured to estimate (e.g., calculate) a movement path of an object approaching (e.g., approaching) the vehicle 1 from the rear of the vehicle 1 (e.g., approaching the vehicle 1 from behind) based on speed information detected by the speed sensor 210, heading information detected by the heading sensor 220, and data of the object detected (e.g., detected) by the radar 230, to determine whether the vehicle 1 may enter a rear lane, and to determine a probability of a collision with the object approaching the vehicle 1 in the rear lane. The control unit 300 may then be configured to determine whether the vehicle 1 intends to enter the rear lane based on the estimated (e.g., calculated) movement path.Furthermore, when it is determined that the object is another vehicle, the control unit 300 may be configured to determine whether the vehicle 1 can safely enter the rear lane based on data of the other vehicle received via the communication device 600 and to determine a probability of a collision.

[0050] In particular, the control unit 300 can be configured to estimate (e.g., calculate) a movement path of the vehicle 1 and a movement path of an object. The control unit 300 can include a travel path generation module 310 configured to virtually generate a rear lane, a situation determination module 320 configured to determine whether the vehicle 1 is capable of entering the rear lane and whether the vehicle 1 needs to reverse (e.g., drive backward) to enter the rear lane, or move forward and then turn to enter the rear lane, and a collision risk determination module 330 configured to determine a probability of a collision with an object approaching (e.g., approaching) the vehicle 1 in the rear lane. The object can be another vehicle V1, a pedestrian, etc.The object data can include a type of object, a speed of the object, direction of travel data of the object, etc.

[0051] Referring to Fig. 8A, the travel path generation module 310 may be configured to estimate (e.g., calculate) a movement path R2 of the vehicle 1 and a movement path of another vehicle V1 based on speed information of the vehicle 1, travel direction information of the vehicle 1, and data of an object approaching (e.g., approaching) the vehicle 1 from the rear of the vehicle 1 (e.g., approaching the vehicle 1 from behind). The travel path generation module 310 may be configured to virtually generate a rear lane based on speed information and travel direction information of the other vehicle V1. The travel path generation module 310 may use a width of the other vehicle V1 as a rear lane width and a straight line extending from the side of the other vehicle V1 as a rear lane line R1, thereby generating the rear lane.

[0052] Furthermore, when the vehicle 1 is capable of moving forward (e.g., moving forward) and then turning to enter the rear lane, the situation determination module 320 may be configured to calculate a time (e.g., a point in time) at which the vehicle 1 can enter the rear lane with a minimum turning radius (e.g., curve radius). When the vehicle 1 enters the rear lane, it is relatively safer for the vehicle 1 to move forward (e.g., moving forward) and then turning to enter the rear lane than to reverse to enter the rear lane because a driver is capable of operating the vehicle 1 more easily when driving the vehicle 1 forward (e.g., driving forward). Accordingly, the situation determination module 320 may be configured to determine whether the vehicle 1 is capable of moving forward (e.g.to move forward) and (then) turn to (then) enter the rear lane, and (to) calculate a time (e.g., a point in time) at which the vehicle 1 is able to move forward (e.g., move forward) to (then) enter the rear lane with a minimum turning radius when reversing (e.g., when driving forward), thereby supporting safe driving. The situation determination module 320 may be configured to calculate the time at which the vehicle 1 is able to move forward (e.g., move forward) to enter the rear lane with the minimum turning radius when reversing (e.g., when driving forward) as a time of shifting into the forward gear.

[0053] Furthermore, the collision risk determination module 330 may be configured to determine a probability of a collision with an object approaching the vehicle 1 in the rear lane when the vehicle 1 reverses to enter the rear lane, or when the vehicle 1 moves forward (e.g., moves forward) and then turns to enter the rear lane. A method in which the collision risk determination module 330 determines a probability of a collision will be described in detail below with reference to FIGS. 10 to 12.

[0054] The user interface 400 can provide collision risk information to the driver under the operation (e.g., during operation) of the control unit 300. In other words, the user interface 400 can stimulate at least one of the driver's senses of sight, touch, and hearing to provide collision risk information to the driver. The user interface 400 can be the AVN system 130 installed within the vehicle 1. Furthermore, the user interface 400 can inform the user of a time (e.g., a point in time) (or a point in time of shifting into the forward gear) at which the vehicle 1 is capable of entering the rear lane with a minimum turning radius, which is calculated by the control unit 300.

[0055] The drive device 500 may be configured to operate the vehicle 1 according to (e.g., depending on) the operation of the control unit 300. For example, the drive device 500 may be configured to receive a control signal from the control unit 300 to operate the steering wheel 124, the brake pedal 131, the accelerator pedal 132, etc., and thereby operate the vehicle 1. Upon detecting a movement of the vehicle 1 after receiving a warning informing of a collision risk (e.g., a risk of collision), the control unit 300 may be configured to operate the drive device 500 to decelerate (e.g., stop) the vehicle 1.

[0056] FIGS. 6 and 7 are flowcharts illustrating a vehicle control method according to an exemplary embodiment. As described above, the vehicle 1 may include the sensor 200, the control unit 300, the user interface 400, and the drive device 500.

[0057] Referring to Fig. 6, the sensor 200 may be configured to detect (e.g., detect) an object approaching the subject vehicle 1 from behind in operation S710, and the control unit 300 may be configured to estimate (e.g., calculate) a movement path of the object approaching the subject vehicle 1 from behind based on speed information and direction information of the object to virtually generate a rear lane in operation S720. As in Fig. As shown in Figure 8A, the rear lane that is / will be virtually generated may include a virtual line R1. Furthermore, the control unit 300 may be configured to estimate (e.g., calculate) a movement path R2 of the vehicle 1 based on speed information and heading information of the vehicle 1, and determine whether the vehicle 1 intends to enter the rear lane based on the movement path R2 of the vehicle 1, in operation S730.

[0058] When the control unit 300 determines that the vehicle 1 intends to enter the rear lane, the control unit 300 may be configured to receive data of a nearby object (e.g., an object in the vicinity) from the sensor 200 to recognize and detect the nearby object in operation S740. In particular, as shown in Fig. 8B, the control unit 300 may be configured to detect an object V2 located in front of the vehicle 1 and determine whether the vehicle 1 is capable of moving forward (e.g., moving forward) and then turning to enter the rear lane in operation S750. In other words, as shown in Fig. 9, the control unit 300 may be configured to determine a probability or risk of a collision (e.g., a crash) with the object located in front of the vehicle 1 when the vehicle 1 moves forward (e.g., moves forward) and then turns.

[0059] When the control unit 300 determines that the vehicle 1 is unable to move forward and then turn to enter the rear lane, the control unit 300 may be configured to determine whether there is a risk of collision with an object approaching the vehicle 1 from the rear of the vehicle 1 (e.g., approaching the vehicle 1 from behind) when the vehicle 1 reverses to enter the rear lane, in operation S760. When the control unit 300 determines a risk of collision with the object, the control unit 300 may be configured to operate the user interface 400 to issue a rear-end collision warning (e.g., a warning regarding a collision at the rear end of the vehicle 1) and to operate the drive device 500 to decelerate (e.g., stop) the vehicle 1 in operation S770.

[0060] Referring to Fig. 10, the control unit 300 may be configured to estimate (e.g., calculate) a first time (e.g., a first period of time) T1 taken for a rear end of the vehicle 1 to reach the line R1 of the rear lane, a second time (e.g., a second period of time) T2 taken for a front end of an object V1 to reach a location (e.g., a spot, a position) at (e.g., at) which the rear end of the vehicle 1 reaches the line R1 of the rear lane, and a third time T3 (e.g., a third period of time) taken for the rear end of the object V1 to reach the location (e.g., the spot) at (e.g., at) which the rear end of the vehicle 1 reaches the rear lane. If the control unit 300 determines that the first time T1 is greater than the second time T2 and less than the third time T3, the control unit 300 may be configured to determine a probability of a collision (e.g.a collision probability).

[0061] When the vehicle 1 is able to move forward (e.g., move forward) and then turn to enter the rear lane, the control unit 300 may be configured to calculate a time at which the vehicle 1 is able to enter the rear lane with a minimum turning radius, in operation S780, and to operate the user interface 400 to inform the driver of the time at which the vehicle 1 can enter the rear lane with the minimum turning radius, or a time of shifting into the forward gear, in operation S790. Fig. 9, when the vehicle 1 is at (e.g., at) a position ① or ② as a result of reversing, the control unit 300 may be configured to determine that the vehicle 1 is unable to move forward (e.g., move forward) and (then) turn due to the front object V2, and when the vehicle 1 is at (e.g., at) a position ③, the control unit 300 may be configured to determine that the vehicle 1 can enter the rear lane R1 with the minimum turning radius.

[0062] Referring to Fig. 7, when the vehicle 1 is able to move forward (e.g., move forward) and (then) turn to enter the rear lane, the reverse gear may be shifted (e.g., switched) to the forward gear based on information concerning the time at which the vehicle 1 is able to enter the rear lane with the minimum turning radius or information concerning the time (e.g., the time point) of shifting to the forward gear in operation S800. The gear shift (e.g., gear switching) may be performed by the driver, and when the vehicle 1 is an autonomous driving vehicle, the control unit 300 may be configured to perform the gear shift.

[0063] Furthermore, the control unit 300 may be configured to determine whether there is a probability or risk of a rear collision (e.g., a collision at the rear of the vehicle 1) before the vehicle 1 enters the rear lane, in operations S810 and S820. If the control unit 300 detects a probability of a rear collision, the control unit 300 may be configured to actuate the user interface 400 to warn a driver of a risk of entering the road lane (e.g., rear lane), in operation S830.

[0064] Referring to Fig. 11A, the control unit 300 may be configured to estimate (e.g., calculate) a fourth time (e.g., a fourth period) T4 taken for the vehicle 1 to fully enter the rear lane, a fifth time (e.g., a fifth period) T5 taken for the front end of the object V1 to reach the rear end of the vehicle 1 when the vehicle 1 has fully entered the rear lane, and a sixth time (e.g., a sixth period) T6 taken for the rear end of the object V1 to reach the front end of the vehicle 1 when the vehicle 1 has fully entered the rear lane. If the control unit 300 determines that the fourth time T4 is greater than the fifth time T5 and less than the sixth time T6, the control unit 300 may be configured to determine that there is a probability or risk of a rear collision (e.g.,a rear collision probability or a rear collision risk, a probability or a risk of a collision at the rear of the vehicle 1).

[0065] Furthermore, with reference to Fig. 11B, the control unit 300 may be configured to estimate (e.g., calculate) a seventh time (e.g., a seventh period) T7 and a moving distance (e.g., travel distance) D1 taken (for) that the speed of the vehicle 1 reaches the speed of the object V1 after the vehicle 1 completely enters (e.g., has entered) the rear lane, and (to estimate (e.g., an eighth period) T8 taken (for) that the front end of the object V1 reaches the rear end of the vehicle 1 when the speed of the vehicle 1 reaches (has reached) that of the object V1. When the control unit 300 determines that the seventh time T7 is greater than the eighth time T8, the control unit 300 may be configured to determine that there is a rear collision probability or risk (e.g., a probability or risk of a rear collision).The control unit 300 may be configured to determine whether there is a rear-side collision probability (e.g., a rear-side collision probability, a rear-side lateral collision probability) when the vehicle 1 begins to enter the rear lane, in operation S840. If the control unit 300 determines that there is a rear-side collision probability, the control unit 300 may be configured to operate the user interface 400 to warn of a rear-side collision and operate the drive device 500 to decelerate (e.g., stop) the vehicle 1, in operation S850.

[0066] Referring to Fig.12, the control unit 300 may be configured to estimate (e.g., calculate) a ninth time (e.g., a ninth period of time) T9 taken for the vehicle 1 to reach a location (e.g., a spot, a position) at which the front end of the vehicle 1 has reached the rear lane R1, a tenth time (e.g., a tenth period of time) T10 taken for the front end of the object V1 to reach the location (e.g., the spot) at which the front end of the vehicle 1 has reached the rear lane R1, and an eleventh time (e.g., an eleventh period of time) T11 taken for the rear end of the object V1 to reach the location (e.g., the spot) at which the front end of the vehicle 1 has reached the rear lane R1.When the control unit 300 determines that the ninth time T9 is greater than the tenth time T10 and less than the eleventh time T11, the control unit 300 may be configured to determine that there is a rear-side collision probability.

[0067] Furthermore, the first time T1 to the eleventh time T11, which are factors considered for determining a collision risk, are represented numerically (e.g., in numerical order) only to distinguish one from another, and the times are not in a dependent relationship (e.g., they do not depend on each other). Accordingly, symbols representing times specified in different drawings or claims should be understood independently.

[0068] According to the vehicle and the control method thereof as described above, by determining, when reversing, a probability of collision with another vehicle approaching the vehicle from behind without considering a blind spot and controlling the vehicle according to the result of the determination, it may be possible to reduce an accident rate. Furthermore, according to the vehicle and the control method thereof, by selecting, when entering a rear lane, from one of a reversing method and a forward and turning method, and determining, according to (e.g., depending on) the selected method, a driver can operate the vehicle more safely, even in a narrow (e.g., confined) space (e.g., area).

[0069] Furthermore, the exemplary embodiments described above may be embodied in the form of a recording medium for storing instructions executable by a computer. The instructions may be stored in the form of program code, and when executed by a processor, the instructions may create a program module for performing operations of the exemplary embodiments. The recording medium may be embodied as a computer-readable recording medium. The computer-readable recording medium may include any type of recording media that stores instructions that can be decoded by a computer. For example, the computer-readable recording medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, or the like.

Claims

[1] Vehicle (1) which has: a speed sensor (210) configured to detect speed information, a direction sensor (220) configured to detect direction of travel information, a radar (230) configured to detect an object approaching the vehicle (1), and a control unit (300) configured to estimate a movement path (R2) of an object (V1) moving in a rear lane (R1) and approaching the vehicle (1) from behind, and to determine whether the vehicle (1) is capable of entering the rear lane (R1) based on the speed information detected by the speed sensor (210), the direction of travel information detected by the direction sensor (220), and data of the object detected by the radar (230), and to determine a probability of a collision with the object (V1) approaching the vehicle (1) in the rear lane (R1), wherein, when the control unit (300) determines whether the vehicle (1) is capable of entering the rear lane (R1), the control unit (300) is configured to determine whether the vehicle (1) needs to reverse to enter the rear lane (R1) or needs to move forward and turn to enter the rear lane (R1), and wherein, when the control unit (300) determines that the vehicle (1) must reverse in order to enter the rear lane (R1), the control unit (300) is configured to estimate a first time (T1) taken for a rear end of the vehicle (1) to reach the rear lane (R1), a second time (T2) taken for a front end of the object (V1) to reach a position at which the rear end of the vehicle (1) reaches the rear lane (R1), and a third time (T3) taken for a rear end of the object (V1) to reach the position at which the rear end of the vehicle (1) reaches the rear lane (R1), and, when the control unit (300) determines that the first time (T1) is greater than the second time (T2) and less than the third time (T3), the control unit (300) is configured to Probability of a collision to be detected. [2] The vehicle according to claim 1, wherein the control unit (300) is configured to virtually generate the rear track based on the movement path (R2) of the object (V1). [3] A vehicle according to any one of claims 1 to 2, wherein, when the control unit (300) determines that the vehicle (1) needs to move forward and turn to enter the rear lane (R1), the control unit (300) is configured to calculate a time at which the vehicle (1) is able to enter the rear lane (R1) with a minimum turning radius. [4] The vehicle (1) according to any one of claims 1 to 3, wherein the control unit (300) is configured to estimate a fourth time (T4) taken for the vehicle (1) to move forward from a current location and turn to fully enter the rear lane (R1), a fifth time (T5) taken for a front end of the object (V1) to reach a rear end of the vehicle (1) when the vehicle (1) has fully entered the rear lane (R1), and a sixth time (T6) taken for a rear end of the object (V1) to reach a front end of the vehicle (1) when the vehicle (1) has fully entered the rear lane (R1), and, when the control unit (300) determines that the fourth time (T4) is greater than the fifth time (T5) and less than the sixth time (T6), Control unit (300) is arranged to detect a probability of a rear collision. [5] The vehicle (1) according to any one of claims 1 to 4, wherein the control unit (300) is configured to estimate a seventh time (T7) and a moving distance (D1) taken for a speed of the vehicle (1) to reach a speed of the object (V1) after the vehicle (1) completely enters the rear lane (R1), and an eighth time (T8) taken for the front end of the object (V1) to reach the rear end of the vehicle (1) when the speed of the vehicle (1) reaches the speed of the object (V1), and, when the control unit (300) determines that the seventh time (T7) is greater than the eighth time (T8), the control unit (300) is configured to detect a probability of a rear collision. [6] Vehicle (1) according to one of claims 1 to 5, wherein the control unit (300) is arranged to estimate a ninth time (T9) taken for the vehicle (1) to reach a position at which the front end of the vehicle (1) reaches the rear lane (R1), a tenth time (T10) taken for the front end of the object (V1) to reach the position at which the front end of the vehicle (1) reaches the rear lane (R1), and an eleventh time (T11) taken for the rear end of the object (V1) to reach the position at which the front end of the vehicle (1) reaches the rear lane (R1), and, if the control unit (300) determines that the ninth time (T9) is greater than the tenth time (T10) and less than the eleventh time (T11), the control unit (300) is arranged to estimate a probability of to detect a rear side collision. [7] Vehicle (1) according to one of claims 1 to 6, further comprising: a drive device (500) configured to operate the vehicle (1) based on an operation of the control unit (300). [8] Vehicle (1) according to one of claims 1 to 7, further comprising: a communication device (600) configured to transmit data to and receive data from another vehicle, wherein, when the object (V1) is detected as another vehicle, the control unit (300) is configured to determine whether the vehicle (1) is capable of entering the rear lane (R1) based on data of the other vehicle received by means of the communication device (600) and to determine a probability of a collision. [9] Method for controlling a vehicle (1), which comprises: Detecting, by means of a control unit (300), speed information and direction information, Detecting (S710), by means of the control unit (300), an object moving on a rear lane (R1) and approaching the vehicle (1) in order to record object data, Estimating (S720), by means of the control unit (300), a movement path (R2) of the object based on the object data, Determining, by means of the control unit (300), whether the vehicle is able to enter the rear lane (R1) based on the speed information, the direction of travel information and the object data and Determining, by means of the control unit (300), a probability of a collision with the object moving in the rear lane (R1) and approaching the vehicle (1), wherein determining whether the vehicle (1) is capable of entering the rear lane (R1) comprises: Determining, by means of the control unit (300), whether the vehicle (1) must reverse to enter the rear lane (R1) or move forward and turn to enter the rear lane (R1), and where determining the probability of a collision comprises: when the vehicle (1) has to reverse to enter the rear lane (R1), estimating, by means of the control unit (300), a first time (T1) taken for a rear end of the vehicle (1) to reach the rear lane (R1), a second time (T2) taken for a front end of the object to reach a position at which the rear end of the vehicle (1) reaches the rear lane (R1), and a third time (T3) taken for the rear end of the object to reach the position at which the rear end of the vehicle (1) reaches the rear lane (R1), and Detecting (S820), by means of the control unit (300), a probability of a collision when the first time (T1) is greater than the second time (T2) and less than the third time (T3). [10] The method according to claim 9, wherein the estimation (S720) of the movement path (R2) of the object comprises: virtually generating, by means of the control unit (300), the rear track based on the movement path (R2) of the object. [11] A method according to any one of claims 9 to 10, further comprising: in response to determining that the vehicle (1) must move forward and turn to enter the rear lane (R1), calculating (S780), by means of the control unit (300), a time at which the vehicle (1) is able to enter the rear lane (R1) with a minimum turning radius. [12] A method according to any one of claims 9 to 11, wherein determining the probability of a collision comprises: Estimating, by means of the control unit (300), a fourth time (T4) taken for the vehicle (1) to move forward from a current position and turn to fully enter the rear lane (R1), a fifth time (T5) taken for a front end of the object to reach a rear end of the vehicle (1) when the vehicle (1) has fully entered the rear lane (R1), and a sixth time (T6) taken for a rear end of the object to reach a front end of the vehicle (1) when the vehicle (1) has fully entered the rear lane (R1), and Detecting (S820), by means of the control unit (300), a probability of a rear collision when the fourth time (T4) is greater than the fifth time (T5) and less than the sixth time (T6). [13] A method according to any one of claims 9 to 12, wherein determining the probability of a collision comprises: Estimating, by means of a control unit (300), a seventh time (T7) and a moving distance (D1) taken for a speed of the vehicle (1) to reach a speed of the object after the vehicle (1) completely enters the rear lane (R1), and estimating an eighth time (T8) taken for the front end of the object to reach the rear end of the vehicle (1) when the speed of the vehicle (1) reaches the speed of the object, and Detecting (S820), by means of the control unit (300), a probability of a rear collision in response to determining that the seventh time (T7) is greater than the eighth time (T8). [14] A method according to any one of claims 9 to 13, wherein determining the probability of a collision comprises: Estimating, by means of the control unit (300), a ninth time (T9) taken for the vehicle to reach a position at which the front end of the vehicle (1) reaches the rear lane, a tenth time (T10) taken for the front end of the object to reach the position at which the front end of the vehicle reaches the rear lane (R1), and an eleventh time (T11) taken for the rear end of the object to reach the position at which the front end of the vehicle (1) reaches the rear lane (R1), and Detecting (S820), by means of the control unit (300), a probability of a rear side collision in response to determining that the ninth time (T9) is greater than the tenth time (T10) and less than the eleventh time (T11).

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