Collision avoidance apparatus and collision avoidance method for autonomous vehicle

A control method for an autonomous vehicle including a radar sensor for transmitting a radar wave and receiving a reflected wave from an object, the method being implementable by a computer, the control method comprising:

• obtaining, from a signal received by the radar sensor, information about a position of the object and information about a reflected power level of the reflected wave;
• setting an area around the object within a predetermined travel-restricted distance, in response to the reflected power level being higher than or equal to a predetermined value, as a travel-restricted area in which the autonomous vehicle is restricted from traveling;
• generating information about the travel-restricted area;
• and
• controlling travel of the autonomous vehicle (i) to prevent entry of the autonomous vehicle into the travel-restricted area based on the information about the travel-restricted area in a first case where the reflected power level of the object is higher than or equal to the predetermined value and (ii) to avoid contact with the object based on the information about the position of the object in a second case where the reflected power level of the object is lower than the predetermined value.

A non-transitory computer readable medium storing a control program for an autonomous vehicle including a radar sensor for transmitting a radar wave and receiving a reflected wave from an object, the control program causing a computer to perform operations comprising:

• obtaining, from a signal received by the radar sensor, information about a position of the object and information about a reflected power level of the reflected wave;
• setting an area around the object within a predetermined travel-restricted distance, in response to the reflected power level being higher than or equal to a predetermined value, as a travel-restricted area in which the autonomous vehicle is restricted from traveling;
• generating information about the travel-restricted area;
• and
• controlling travel of the autonomous vehicle (i) to prevent entry of the autonomous vehicle into the travel-restricted area based on the information about the travel-restricted area in a first case where the reflected power level of the object is higher than or equal to the predetermined value and (ii) to avoid contact with the object based on the information about the position of the object in a second case where the reflected power level of the object is lower than the predetermined value.