Apparatus for driver assistance and method of controlling the same

A method of controlling an apparatus for driver assistance including a camera module and a radar module, the method comprising:

• determining whether an emergency vehicle is adjacent to a vehicle based on at least one of position information of the emergency vehicle received through a communicator of the vehicle or a sound collected by a sound collector of the vehicle during autonomous driving;
• determining whether the emergency vehicle is adjacent to the vehicle based on at least one of image information acquired by the camera module or radar information acquired by the radar module when it is determined that the emergency vehicle is adjacent to the vehicle;
• determining whether a same route, where traveling route of the emergency vehicle is overlapped with traveling routes of the vehicle, is present based on the received traveling route information of the emergency vehicle and the traveling route information of the vehicle;
• and
• controlling the vehicle to change a traveling lane when it is determined that the emergency vehicle is adjacent to the vehicle,
• wherein the method further comprises acquiring position information of a lane to be changed based on an acquired road information, the position information of a traveling lane of the vehicle, the position information of traveling lane of the emergency vehicle, and obstacle information acquired by the radar module when it is determined that the traveling lane of the vehicle needs to be changed, and controlling steering and traveling speed to move to an acquired changed lane, and
• wherein the method further comprises determining whether the vehicle is to stop in the changed lane based on the road information, the obstacle information, and the position information of the changed lane when the vehicle moves to the changed lane, setting a point at which the vehicle has traveled at a constant speed for a preset time from an entry point of the changed lane to a stop point when it is determined that the vehicle is to stop in the changed lane, controlling the steering and the traveling speed from the traveling lane to the stop point of the vehicle;
• and controlling braking when it is determined that a current position of the vehicle is the entry point of the changed lane based on position information of a position receiver.