Driver assistance apparatus, vehicle having the same, and method of controlling vehicle

A vehicle comprising:

• a cluster;
• a side mirror indicator;
• and
• a driver assistance apparatus configured to control the cluster and the side mirror indicator, wherein the driver assistance apparatus comprises:
• a first radar sensor mounted to the vehicle and having a view of a left rear side outside the vehicle, the first radar sensor configured to output first detecting data;
• a second radar sensor mounted to the vehicle and having a view of a right rear side outside the vehicle, the second radar sensor configured to output second detecting data;
• and
• a controller configured to:
• process the first detecting data and the second detecting data;
• generate a plurality of detection points based on processing of the first detecting data and the second detecting data;
• generate a first track and a second track based on the plurality of detection points, wherein the first track and the second track correspond to a first object external to the vehicle;
• identify a track that is normally detected and a track that is erroneously detected from among the first track and the second track, wherein the track that is normally detected corresponds to a track of the first object external to the vehicle and the track that is erroneously detected corresponds to one or more reflections of radio waves off of a second object external to the vehicle;
• and
• control at least one of the cluster and the side mirror indicator to warn of a collision in a direction located on the normally detected track.

A method of controlling a vehicle, the method comprising:

• receiving first detecting data from a first radar sensor mounted to the vehicle and having a view of a left rear side outside the vehicle;
• receiving second detecting data from a second radar sensor mounted to the vehicle and having a view of a right rear side outside the vehicle;
• processing the first detecting data and the second detecting data;
• generating a plurality of detection points based on processing of the first detecting data and the second detecting data;
• generating a first track and a second track based on the plurality of detection points, wherein the first track and the second track correspond to a first object external to the vehicle;
• identifying a track that is normally detected and a track that is erroneously detected from among the first track and the second track, wherein the track that is normally detected corresponds to a track of the first object external to the vehicle and the track that is erroneously detected corresponds to one or more reflections of radio waves off of a second object external to the vehicle;
• and
• warning of a collision in a direction located on the normally detected track.