Vehicle for avoiding collision and method for operating the same

A method for avoiding collision of a vehicle, the method comprising:

• obtaining surrounding environment information comprising nearby object information or road information;
• predicting a position change of a nearby object based on the surrounding environment information;
• determining one among a plurality of avoidance behavior types for collision avoidance in a lane as an avoidance behavior type of the vehicle, based on the predicted position change of the nearby object, wherein the plurality of avoidance behavior types comprises an evasive steering to right (ESR) type, an evasive steering to left (ESL) type, or a decelerating (DEC) type;
• controlling, based on the determined avoidance behavior type, lateral movement of the vehicle for the collision avoidance without crossing outer edges of a current driving lane,
• wherein determining the one among the plurality of avoidance behavior types for the collision avoidance in the lane comprises:
• generating an image comprising a first predicted trajectory for a behavior of the nearby object based on the predicted position change of the nearby object;
• and
• generating images for each of the plurality of avoidance behavior types based on the generated image,
• wherein each of the images for each of the plurality of avoidance behavior types comprises a second predicted trajectory representing a relative behavior of the nearby object to the vehicle, and
• wherein the second predicted trajectory is determined based on the first predicted trajectory and an avoidance trajectory of the vehicle according to a corresponding avoidance behavior type;
• and
• based on the second predicted trajectory comprised in the images for each of the plurality of avoidance behavior types,
• predicting whether the collision avoidance is possible for each of the plurality of avoidance behavior types;
• and
• determining a first avoidance behavior type predicted to be capable of the collision avoidance among the plurality of avoidance behavior types as the avoidance behavior type of the vehicle.

A vehicle comprising:

• a plurality of sensors configured to obtain surrounding environment information including nearby object information or road information;
• and
• a processor in operative connection with the plurality of sensors, the processor being configured to:
• predict a position change of a nearby object based on the surrounding environment information;
• determine one among a plurality of avoidance behavior types for avoiding collision in a lane as an avoidance behavior type of the vehicle based on the predicted position change of the nearby object, wherein the plurality of avoidance behavior types comprises an evasive steering to right (ESR) type, an evasive steering to left (ESL) type, or a decelerating (DEC) type;
• control, based on the determined avoidance behavior type, lateral movement of the vehicle for collision avoidance without crossing outer edges of a current driving lane;
• generate an image comprising a first predicted trajectory for a behavior of the nearby object based on the predicted position change of the nearby object;
• and
• generate images for each of the plurality of avoidance behavior types based on the generated image,
• wherein each of the images for each of the plurality of avoidance behavior types comprises a second predicted trajectory representing a relative behavior of the nearby object to the vehicle,
• wherein the second predicted trajectory is determined based on the first predicted trajectory and an avoidance trajectory of the vehicle according to a corresponding avoidance behavior type, and
• wherein the processor is further configured to:
• calculate a degree of a risk of collision between the vehicle and the nearby object based on the nearby object information;
• determine display brightness of the nearby object based on the calculated degree of risk of collision;
• and
• control the nearby object to be displayed according to the display brightness, when generating the image comprising the first predicted trajectory and the images for each of the plurality of avoidance behavior types.