Emergency avoidance control system, emergency avoidance control method, and computer-readable recording medium

An emergency avoidance control method comprising:

• detecting surroundings of a host vehicle through a sensor to obtain surrounding environment data;
• analyzing a risk in which a situation determiner determines a predicted collision time based on the surrounding environment data and determines a risk grade for a collision risk based on the predicted collision time, the risk grade comprising a low risk grade, a medium risk grade, and a high risk grade;
• generating a path in which a path setter generates a plurality of avoidance paths based on the surrounding environment data and determines, among the plurality of avoidance paths, an avoidance path controllable with a minimum steering angle and a minimum steering speed;
• performing control in which, in response to the risk grade being determined to be the medium risk grade or the high risk grade, a path follower controls a control module to assist in following the determined avoidance path or to follow the determined avoidance path according to the risk grade;
• and
• outputting a warning in which a warning signal generator generates a warning signal notifying of an occurrence of an emergency situation and an emergency avoidance operation according to the determined risk grade and transmits the warning signal to the control module.

A computer-readable recording medium storing a computer program, wherein the computer program, when executed by one or more processors, causes the one or more processors to perform steps, the steps comprising:

• detecting surroundings of a host vehicle through a sensor to obtain surrounding environment data;
• analyzing a risk in which a situation determiner determines a predicted collision time based on the surrounding environment data and determines a risk grade for a collision risk based on the predicted collision time;
• generating a path in which a path setter generates a plurality of avoidance paths based on the surrounding environment data and determines, among the plurality of avoidance paths, an avoidance path controllable with a minimum steering angle and a minimum steering speed;
• performing control in which, in response to the risk grade being determined to be a risk grade of an intermediate level or higher, a path follower controls a control module to assist in following the determined avoidance path or to follow the determined avoidance path according to the risk grade;
• and
• outputting a warning in which a warning signal generator generates a warning signal notifying of an occurrence of an emergency situation and an emergency avoidance operation according to the determined risk grade and transmits the warning signal to the control module.