Method and system for determining direction of collision avoidance with front vehicle

A system for determining a direction of collision avoidance with a front vehicle, comprising:

• a first sensor configured to detect a front vehicle of an ego vehicle;
• a second sensor configured to detect body information of the ego vehicle;
• and
• a controller comprising at least one processor configured to determine an avoidance direction of the ego vehicle when emergency steering control is required, based on detection results from the first sensor and the second sensor,
• wherein the controller is configured to:
• determine whether a lateral position of the front vehicle within a driving lane of the ego vehicle satisfies a predetermined first condition;
• determine whether a relative lateral position between the ego vehicle and the front vehicle satisfies a predetermined second condition;
• if the first condition is satisfied, or if the first condition is not satisfied but the second condition is satisfied, determine one of a left side or a right side as the avoidance direction;
• and
• perform steering control of the ego vehicle in the avoidance direction.

A non-transitory computer-readable recording medium that records a program for executing a method for determining a direction of collision avoidance with a front vehicle on a computer, the method comprising:

• recognizing a front vehicle of an ego vehicle;
• determining whether emergency steering control is required based on a collision risk with the front vehicle;
• when the emergency steering control is determined to be required, determining whether a lateral position of the front vehicle within a driving lane of the ego vehicle satisfies a predetermined first condition;
• determining whether a relative lateral position between the ego vehicle and the front vehicle satisfies a predetermined second condition;
• if the first condition is satisfied, or if the first condition is not satisfied but the second condition is satisfied, determining one of a left or right direction as an avoidance direction;
• and
• performing steering control of the ego vehicle in the avoidance direction.