Vehicle and method of controlling the same

A method of controlling a vehicle, the vehicle for performing avoidance control of the vehicle according to a position and a relative speed of an object on an opposite side, the method comprising:

• obtaining, by sensors, object data related to the object and motion data related to motion of the vehicle;
• determining, by a controller, a heading angle between the object and the vehicle according to the object data and the motion data, a lateral position of the object with respect to the vehicle, and an amount of turning of the vehicle;
• determining, by the controller, an index for each of the heading angle, the lateral position, and the amount of turning by comparing the heading angle, the lateral position, and the amount of turning with respective threshold value of the heading angle, the lateral position, and the amount of turning;
• and
• controlling, by the controller, the vehicle not to perform the avoidance control of the vehicle when the index for each of the heading angle, the lateral position, and the amount of turning satisfies a predetermined condition,
• wherein the lateral position of the object is calculated from a distance between an extension line extending perpendicular to the front of the vehicle and an extension line extending perpendicularly from the object,
• wherein the determining the index comprises forming a band having a constant width based on the vehicle, the threshold value of the lateral position comprising the band,
• when the object is detected to be outside the band, determining the index for the lateral position corresponding to the predetermined condition for the lateral position,
• when the object is detected to be within the band, determining the index for the lateral position dissatisfying the predetermined condition for the lateral position,
• wherein the threshold value for the amount of turning increases as a number of lanes around a lane used by the object entering an intersection from the opposite side of the vehicle increases, and
• wherein the amount of turning is determined based on a steering angle of the vehicle, a speed of the vehicle and a yaw rate of the vehicle, and when the vehicle makes a U-turn, the speed is weighted to be greater than a U-turn speed.

A non-transitory computer readable medium including program instructions executed by a processor, the computer readable medium including:

• program instructions that obtain, by sensors, object data related to an object on an opposite side and motion data related to motion of a vehicle;
• program instructions that determine, by a controller, a heading angle between the object and the vehicle according to the object data and the motion data, a lateral position of the object with respect to the vehicle, and an amount of turning of the vehicle;
• program instructions that determine, by the controller, an index for each of the heading angle, the lateral position, and the amount of turning by comparing the heading angle, the lateral position, and the amount of turning with respective threshold value of the heading angle, the lateral position, and the amount of turning;
• and
• program instructions that control, by the controller, the vehicle not to perform an avoidance control of the vehicle when the index for each of the heading angle, the lateral position, and the amount of turning satisfies a predetermined condition,
• wherein the lateral position of the object is calculated from a distance between an extension line extending perpendicular to the front of the vehicle and an extension line extending perpendicularly from the object,
• wherein the determining the index comprises forming a band having a constant width based on the vehicle, the threshold value of the lateral position comprising the band,
• when the object is detected to be outside the band, determining the index for the lateral position corresponding to the predetermined condition for the lateral position,
• when the object is detected to be within the band, determining the index for the lateral position dissatisfying the predetermined condition for the lateral position,
• wherein the threshold value for the amount of turning increases as a number of lanes around a lane used by the object entering an intersection from the opposite side of the vehicle increases, and
• wherein the amount of turning is determined based on a steering angle of the vehicle, a speed of the vehicle and a yaw rate of the vehicle, and when the vehicle makes a U-turn, the speed is weighted to be greater than a U-turn speed.