Vehicle controlling apparatus and method

A vehicle controlling method comprising the steps of:

• recognizing an obstacle existing ahead of a vehicle to detect information on the obstacle;
• detecting information on traveling conditions of the vehicle;
• changing steering performance of the vehicle for controlling behaviors of the vehicle;
• determining whether the vehicle can avoid collision with the obstacle only by a driver's braking operation based on at least the information on the obstacle and the vehicle;
• entering into an evasive driving mode in accordance with a driver's steering operation and the vehicle behaviors when it is determined that the vehicle cannot avoid collision with the obstacle only by the driver's braking operation;
• changing the steering performance of the vehicle in the evasive driving mode in accordance with the driver's steering operation and the vehicle behaviors;
• determining whether the vehicle has been maneuvered for avoiding collision with the obstacle;
• and
• releasing the vehicle from the evasive driving mode when it is determined that the vehicle has not been maneuvered for avoiding collision with the obstacle even though the vehicle has reached the obstacle in the evasive driving mode.

A vehicle apparatus installed in a vehicle comprising:

• an obstacle recognizer to recognize an obstacle existing ahead of the vehicle for detecting information on the obstacle;
• a vehicle information detector to detect information on traveling conditions of the vehicle;
• a vehicle controller to change steering performance of the vehicle for controlling behaviors of the vehicle;
• an evasive-driving determine whether the vehicle can avoid collision with the obstacle only by a driver's braking operation based on at least the information on the obstacle and the vehicle;
• an evasive-driving controller to control the vehicle controller to enter into an evasive mode in accordance with a driver's steering operation and the vehicle behaviors when it is determined that the vehicle cannot avoid collision with the obstacle only by the driver's braking operation and also control the vehicle controller to change a control operation of the vehicle controller in the evasive driving mode in accordance with the driver's steering operation and the vehicle behaviors;
• and
• an evasive-driving condition determiner to determine whether the vehicle has been maneuvered for avoiding collision with the obstacle,
• wherein the evasive-driving controller releases the vehicle from the evasive driving mode when the vehicle has entered into the evasive driving mode due to erroneous obstacle information.