Advanced driver assistance system, vehicle having the same, and method of controlling vehicle

A vehicle comprising:

• a camera configured to obtain an image of a road and output image information;
• an obstacle detector configured to detect an obstacle and output obstacle information;
• a driving information detector configured to detect driving information of a vehicle;
• and
• a controller configured to:
• generate a first risk of collision region based on a turn path,
• predict a position of the obstacle based on the obstacle information,
• generate a second risk of collision region based on the predicted position of the obstacle,
• determine whether the obstacle exists in the first and second risk of collision regions based on the image information, respectively,
• adjust a risk level based on the presence or absence of the obstacle in the first and second risk of collision regions, and
• perform a collision avoidance control corresponding to the adjusted risk level.

A method of controlling a vehicle comprising:

• determining, by a controller, whether a section to be driven is a turn section;
• in response to determining that the section to be driven is the turn section, generating, by the controller, a turn path;
• generating, by the controller, a first risk of collision region based on the generated turn path;
• predicting, by the controller, a position of an obstacle based on obstacle information detected by an obstacle detector and driving information detected by a driving information detector;
• generating, by the controller, a second risk of collision region based on the predicted position of the obstacle;
• based on image information obtained from an imager, determining, by the controller, whether the obstacle exists in the first and second risk of collision regions, respectively;
• adjusting, by the controller, a risk level based on the presence or absence of the obstacle in the first and second risk of collision regions;
• and
• performing, by the controller, a collision avoidance control corresponding to the adjusted risk level.